The Transactions of the Korean Institute of Electrical Engineers (대한전기학회논문지)
- Volume 41 Issue 4
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- Pages.422-432
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- 1992
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- 0254-4172(pISSN)
Redundancy Utilizations of Redundant Robot Manipulators Based on Configuration Control
형태제어에 기초한, 여유자유도를 갖는 로보트 머니퓰레이터의 여유자유도 이용에 관한 연구
- ;
- Homayoun Seraji (Ph.D.Technical Staff, Jet Propulsion Laboratory, california Institute of Technology)
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최영규
(부산대 공대 전기공학과) ;
- Published : 1992.04.01
Abstract
Previous investigations of redundant manipulators have often focussed on local optimization for redundancy resolution by using the Jacobian pseudoinverse to solve the instantaneous relationship between the joint and end-effector velocities. This paper establishes some new goals for redundancy resolution at position level by using configuration control approach which has been recently developed. Minimum gravity loading, joint limit avoidance, minimum sensitivity, maximum stiffness and minimum impulse are introduced as redundancy resolution goals. These new goals for redundancy resolution allow more efficient utilizations of the redundant joints based on the desired task requirements. Simple computer simulation examples are given for illustration.
Keywords