Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Redundancy Resolution for Free-Floating Manipulators Using Kinematic Optimal Control Approach

기구학적 최적 제어를 사용한 자유 부유 매니퓰레이터의 여유도 해결

  • Received : 2011.01.06
  • Accepted : 2011.05.06
  • Published : 2011.08.01
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Abstract

An efficient sequential computation algorithm of kinematic optimal control is suggested for redundancy resolution of freefloating manipulators. Utilization of minimum principle usually requires involved and tedious procedure of differentiation of Hamiltonian. Due to the constraints of momentum conservation, it is not easy to get exact differential equations of boundary value problem for even relatively simple free-floating manipulator models. To overcome this difficulty, we developed an effective sequential algorithm for the computation of terms appeared in the differential equations. The usefulness of suggested approach is verified by simulation of a planar 3-joints free-floating manipulator.

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References

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