Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Time-Optimal Control for Cooperative Multi-Robot Manipulators Based on Fuzzy Optimal Load Distributioin

퍼지최적 부하분배에 의한 다중협력 로보트 매니퓰레이터의 최적시간 제어

  • 조현찬 (한국기술교육대학교 전자공학과) ;
  • 김용호 (중앙대학교 전자공학과) ;
  • 전홍태 (중앙대학교 전자공학과)
  • Published : 1996.06.01
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Abstract

In this paper, we propose time-optimal trajectory planning algorithms for cooperative multi-robot manipulators system considering optimal load distribution. Internal forces essentially effect on time optimal trajectory planning and if they are comitted, the time optimal scheme is not no longer true. Therefore, we try to find the internal force factors of cooperative robot manipulators system in a time-optimal aspect. In this approach, a specific generalized inverse is used and is fuzzified for the purpose. In this optimal method, the fuzzy logic concept is used and selected for diminishing computation time, for finding the load distribution factors.

Keywords

References

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