Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Analysis on Dynamic Motion of Robotic Arm and Body Mechanism

로봇 팔 및 몸체 메커니즘의 동적 운동특성 분석

  • Kim, Byoung-Ho (Bio-Mimetic Control & Robotics Lab., Dept. of Mechatronics Eng., Kyungsung Univ.)
  • 김병호 (경성대학교 메카트로닉스공학과 생체모방제어 및 로봇연구실)
  • Received : 2010.09.25
  • Accepted : 2010.11.29
  • Published : 2010.12.25
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Abstract

This paper analyzes the fundamental dynamic motion of a robotic arm and body mechanism on the platform of a mobile manipulation system. For the purpose, we reveal the dynamic coefficients of a robotic arm and body mechanism, and identify their dominant behaviors in an exemplar trajectory following simulation. We also discuss on their influence for the motion of the body, shoulder, and elbow joints. It is finally expected that this analysis is helpful for effective manipulation tasks by using mobile manipulation systems with an arm and body mechanism.

본 논문에서는 다양한 서비스를 제공할 수 있는 모바일 매니퓰레이션 시스템에 장착된 로봇 팔과 몸체 메커니즘의 동적 운동 특성을 분석하고자 한다. 이 목적을 위하여 팔 및 몸체 메커니즘의 동특성 요소를 제시하고, 경로 추종 시뮬레이션을 통하여 이러한 요소들의 주요 동향을 확인한다. 또한, 이러한 요소들이 몸통, 어깨 및 팔꿈치 운동에 미치는 영향을 고찰한다. 이러한 분석은 로봇 팔과 몸체 메커니즘을 갖는 모바일 매니퓰레이션 시스템의 효과적인 조작행위를 위하여 유용하게 활용될 수 있을 것으로 기대한다.

Keywords

Acknowledgement

Supported by : 경성대학교

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