전자공학회논문지B (Journal of the Korean Institute of Telematics and Electronics B)
- 제31B권9호
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- Pages.47-56
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- 1994
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- 1016-135X(pISSN)
마크로-마이크로 로보트의 제어에 관한 연구
A Study on the Control of Macro-Micro Robotic Systems
초록
In this paper, we demonstrate how to design a redundant robot which is suitable for the multiple task execution without any constraints on the work space. The implementation is possible by the rigid connection of a cacro-robot and a micro-robot. A 5 d.o.f. articulated robor designed for commercial purpose is utilized as a micro-robot which can perform a general task with the appropriate adjustment of its base location. The base of a micro-robot is located at a suitable position by the macro-robot designed and implemented through this research. A task assigned to this redundant robot is performed mainly by the micro-robot. However, when the micro-robot cannot perform the task by itself or when the micro-robot has difficulties in performing the task, the coordination of the macro-robot is requited. To monitor the task execution efficiency of the micro-robot, we used the 'Manipulability Measure' as a cost function. The coordination between the two robots are verified both by the simulation and the experiment.
키워드