Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Obstacle-Free Optimal Motions of a Manipulator Arm Using Penetration Growth Distance

침투성장거리를 이용한 로봇팔의 장애물회피 최적운동

  • Park, Jong-Keun (Dept.of Mechanical Operation Engineering, Kyungnam University)
  • 박종근 (경남대학교 기계자동화공학부)
  • Published : 2001.10.01
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Abstract

This paper suggests a numerical method to find optimal geometric path and minimum-time motion for a spatial 6-link manipulator arm (PUMA 560 type). To find a minimum-time motion, the optimal geometric paths minimizing 2 different dynamic performance indices are searched first, and the minimum-time motions are searched on these optimal paths. In the algorithm to find optimal geometric paths, the objective functions (performance indices) are selected to minimize joint velocities, actuator forces or the combinations of them as well as to avoid one static obstacle. In the minimum-time algorithm the traveling time is expressed by the power series including 21 terms. The coefficients of the series are obtained using nonlinear programming to minimize the total traveling time subject to the constraints of velocity-dependent actuator forces.

Keywords

References

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