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Development of A New Efficient Method for Controlling Robot Motion at and near Singularities  

정원지 (국립창원대학교 기계설계공학과)
최은재 (창원대학교 기계설계공학과 대학원)
홍대선 (창원대학교 기계설계공학과)
서영교 (두산메카텍㈜ 연구개발부)
홍형표 (두산메카텍㈜ 연구개발부)
Publication Information
Transactions of the Korean Society of Machine Tool Engineers / v.11, no.6, 2002 , pp. 31-37 More about this Journal
Abstract
This paper presents a new motion control strategy for singularity avoidance in 6 DOF articulated robot manipulators, based on a speed limiting algorithm for joint positions and velocities. For a given task, the robot is controlled so that the joints move with acceptable velocities and positions within the reachable range of each joint by considering the velocity limit. This paper aims at the development of a new efficient method to control robot motion near and at singularities. The proposed method has focused on generating the optimal joint trajectory for a Cartesian end-effector path within the speed limit of each joint by using the speed limit avoidance as well as the acceleration/deceleration scheme. The proposed method was verified using MATLAB-based simulations.
Keywords
6 DOF Articulaed Robot Manipulators; Singularity; Speed Limit Avoidance; Trajectory Parameter; Simulation; Sampling Time;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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