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http://dx.doi.org/10.5391/JKIIS.2008.18.6.787

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

Yoo, Bong-Soo (창원대학교 제어계측공학과 대학원)
Koo, Seong-Wan (창원대학교 제어계측공학과 대학원)
Joh, Joong-Seon (창원대학교 제어계측공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.18, no.6, 2008 , pp. 787-796 More about this Journal
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.
Keywords
Redundant manipulator; Torque optimization; Impact control; Genetic algorithm; Fuzzy logic controller;
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