Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
권호 표지
DOI QR코드

DOI QR Code

A Study on Impact Control of Planar Redundant Manipulator using A Intelligent Control

지능제어를 이용한 평면 여자유도 매니퓰레이터의 충돌제어에 관한 연구

  • 유봉수 (창원대학교 제어계측공학과 대학원) ;
  • 구성완 (창원대학교 제어계측공학과 대학원) ;
  • 조중선 (창원대학교 제어계측공학과)
  • Published : 2008.12.25
Download PDF
⟨ Previous Next ⟩

Abstract

When the manipulator collides with surroundings, there occurs an impulse. To reduce the impulse, the self motion should maintain the manipulator's position by the minimally effective mass. At this time, we can use the local joint torque minimization algorithm to resolve the redundancy. In this study, to reduce the impulse and damages by the impact between the manipulator and surroundings, new control algorithm for the minimization of the joint torque using the kinetic redundancy and the impact minimization is proposed. It adapts fuzzy logic and genetic algorithm to the conventional local joint torque minimization algorithm. The proposed algorithm is applied to a 3-DOF redundant planar manipulator. Simulation results show that the proposed algorithm works well.

매니퓰레이터와 환경과의 충돌 시 충격량을 줄이기 위해서는 유효질량이 최소화되는 자세가 요구되므로 자체운동(self motion)을 통하여 이러한 자세를 유지해야 한다. 이때 여유자유도를 분해하기 위하여 관절 토크 국소 최소화 알고리즘을 이용할 수 있다. 본 논문에서는 매니퓰레이터와 환경과의 충돌 시 충격 및 손상을 줄이기 위해 기구학적인 여자유도를 이용하여 관절토크를 최소화시킴과 동시에 충돌을 최소화시키는 새로운 제어 알고리즘을 제안한다 이 알고리즘은 기존의 국소 토크 최소화 알고리즘과 국소 충돌 최소화 알고리즘에 퍼지 로직과 유전자 알고리즘을 적용시킨 것이다. 제안된 알고리즘은 3자유도 평면 여자유도 매니퓰레이터에 적용하였으며, 시뮬레이션 결과를 통하여 제안된 알고리즘의 타당성을 확인하였다.

Keywords

References

  1. T. Yoshikawa, 'Analysis and Control of Robot Manipulators with Redundancy,' Robotics Research: The First International Symposium, M. Brady and R. Paul, Eds., MIT Press, Cambridge MA, pp.439-446, 1984
  2. O. Khatib, 'Dynamic Control of Manipulators in Operational Space,' in Proc. of 6th IFToMM World Conf. on Theory of Machines and Mechanisms (New Delhi, India), pp.15-20, 1983
  3. A. A. Maciejewski and C. A. Klein, 'Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments,' Int. J. Robotics Research, Vol. 4, no. 3, pp.109-117, 1986 https://doi.org/10.1177/027836498500400308
  4. J. M. Hollerbach, K. C. Suh, 'Redundancy Resolution of Manipulators through Torque Optimization,' IEEE Journal of Robotics and Automation, Vol. RA-3, no.4, pp.308-316, 1987
  5. K. Kazerounian, A. Nedungadi, 'A Local Solution with Global Characteristics for the Joint Torque Optimization of a Redundant Manipulator,' Journal of Robotic Systems, Vol. 6, pp.631-654, 1989 https://doi.org/10.1002/rob.4620060508
  6. S. Ma, S. Hirose and D. Nenchev, 'Improving local torque optimization techniques for redundant robotic mechanisms,' Journal of Robotic Systems, Vol. 8, no.1, pp.75-91, 1991 https://doi.org/10.1002/rob.4620080106
  7. W. J. Chung, W. K. Chung and Y. Youm, 'Dynamic Control Algorithm of Redundant Manipulators based on Stability Condition,' in Proc. of the ISCA Int. Conf. on Computer Applications in Industry and Engineering, (Honolulu, HI), pp.7-11, 1993
  8. A. A. Maciejewski, 'Kinematic Limitations on the Use of Redundancy in Robotic Manipulators,' IEEE Trans. on Robotics and Automation, Vol. 9, no.2, pp.205-210, 1991
  9. I. D. Walker, 'The Use of Kinematic Redundancy in Reducing Impact and Contact Effects in Manipulation,' Proc. IEEE Int. Conf. on Robotics and Automation, pp.434-439, 1990
  10. J. O. Kim, M. W. Gertz and P. K. Khosla, 'Exploiting Redundancy to Reduce Impact Force,' Proc. Journal of Intelligent and Robotic Systems, Vol. 5, no.9, pp.273-290, 1994 https://doi.org/10.1007/BF01276501
  11. K. C. Park, 'A Study on Position/Impact/Force Control of Redundant Robot Manipulators,' MS thesis, Dept. of Precision Engineering & Mechatronics Korea Advanced Institute of Science and Technology, 1993
  12. W. J. Chung, I. H. Kim and J. Joh, 'Null-space Dynamics-based Control of Redundant Manipulators in Reducing Impact,' Control Engineering Practice, Vol. 5, no.9, pp.1273-1282, 1997 https://doi.org/10.1016/S0967-0661(97)84366-3
  13. V. B. Nguyen, A. S. Morris, 'Genetic Algorithm Tuned Fuzzy Logic Controller for a Robot Arm with Two-link Flexibility and Two-joint Elasticity,' Journal of Intelligent and Robotic Systems, 49, pp.3-18, 2007 https://doi.org/10.1007/s10846-006-9097-6
  14. S. S. Roy, D. K. Pratihar, 'A Genetic-Fuzzy Approach for Optimal Path-planning of a Robotic Manipulator among Static Obstacles,' Internal Journal of Institution of Engineers, vol. 84, pp.15-22, 2003
  15. K. Belarbi, F. Titel, W. Bourebia and K. Benmahammed, 'Design of Mamdani Fuzzy Logic Controllers with Rule Base Minimisation using Genetic Algorithm,' Engineering Applications of Artificial Intelligence 18, pp.875-880, 2005 https://doi.org/10.1016/j.engappai.2005.03.003

Cited by

  1. Study on Interaction of Planar Redundant Manipulator with Environment based on Intelligent Control vol.19, pp.3, 2009, https://doi.org/10.5391/JKIIS.2009.19.3.388