제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2002년도 ICCAS
- /
- Pages.104.5-104
- /
- 2002
Configuration Control of a Redundant Manipulator Optimizing Stiffness and Joint Torque
- Jin, Jaehyun (KAERI) ;
-
Ahn, Sungho
(KAERI) ;
-
Jung, Jaehoo
(KAERI) ;
-
Yoon, Jisup
(KAERI)
- 발행 : 2002.10.01
초록
In this paper, we focus on a configuration control method of a redundant manipulator. The configuration of a redundant manipulator has been determined by geometry constraints and additional conditions, such as obstacle avoidance and dexterity optimization. This paper also utilizes optimization, and the additional condition (or performance index) to be optimized is stiffness of the end-effector and joints' torque. Stiffness and torque may be a natural attribute to be controlled during working and those vary as manipulator configuration does. So the optimal configuration from the viewpoint of stiffness and joint torque is studied. If the servo control mechanism of the joints Is assumed to be a...
키워드