• 제목/요약/키워드: Redundant manipulator

검색결과 119건 처리시간 0.033초

잉여 다리 병렬형 로봇의 해석 (Analysis of parallel manipulators with redundant limbs)

  • 김성복
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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    • pp.730-733
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    • 1996
  • This paper presents the kinematic and dynamic analysis of parallel manipulators with redundant limbs, obtained by putting additional limbs to an existing parallel manipulator. We develop the kinematic and dynamic models of a parallel, manipulator with redundant limbs. The redundancy in parallelism due to the increased number of limbs and the redundancy in actuation due to the increased number of active joints are considered in the modeling. Based on the derived models, we define the kinematic and dynamic manipulabilities of a parallel manipulator with redundant limbs. The effect of the redundant limbs on the performance of parallel manipulators is analyzed in terms of kinematic and dynamic manipulabilities.

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잉여 조인트 병렬형 로봇의 해석 (Analysis of parallel manipulators with redundant joints)

  • 김성복
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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    • pp.371-374
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    • 1996
  • This paper presents the kinematic and dynamic analysis of parallel manipulators with redundant joints, obtained by putting additional active joints to an existing parallel manipulator. We develop the kinematic and dynamic models of a parallel manipulator with redundant joints. The redundancy in serial chain, due to the increased number of joints per limb, is considered in the modeling. Based oh the derived models, we define the kinematic and dynamic manipulabilities of a parallel manipulator with redundant joints. The effect of the redundant joints on the performance of parallel manipulators is analyzed in terms of kinematic and dynamic manipulabilities.

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열 효율성을 이용한 잉여 로보트의 재구성 (Reconfiguration of a Redundant Manipulator for Task Execution Efficiency)

  • Jang Myoung Lee
    • 전자공학회논문지B
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    • 제30B권6호
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    • pp.9-19
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    • 1993
  • This paper presents a new concept of a reconfigurable manipulator system which adjusts its mechanical structure to suit the kinematic characteristics of a given task. A highly redundant manipulator designed as a general purpose manipulator needs to be reconfigured for a specific task. A general task can be decomposed of motion and force components with different control requirements: either gross motion control or fine motion control. Each of these task components are distributed to each part of the manipulator based on the control requirements and the structure of the manipulator. Through the reconfiguration, a redundant manipulator is decomposed into two local arms, and the kinematic characteristics of each local arm is adjusted to suit the assigned task. The reconfigured redundant manipulator has two local arms well-configured for the local tasks and cooperating in serial for a given task. This globally enhances the performance of a redundant manipulator to execute a specific task. The simulation results are shown.

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고강성 병렬형 로봇의 최적 여유 구동 (Optimal Redundant Actuation of Parallel Manipulators with High Operational Stiffness)

  • 김성복
    • 제어로봇시스템학회논문지
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    • 제6권2호
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    • pp.181-189
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    • 2000
  • This paper presents the optimal redundant actuation of parallel manipulators for complicated robotic applications such as cutting grinding drilling and digging that require a high degree of operational stiffness as well as the balance between force applicability and dexterity. First by taking into account the distribution(number and location) of active joints the statics and the operational stiffness of a redundant parallel manipulator are formulated and the effects of actuation redundancy are analyzed, Second for given task requirements including joint torque limit task force maximum allowable disturbance and maximum allowable deflection the task execution conditions of a redundant parallel manipulator are derived and the efficient testing formulas are provided. Third to achieve high operational stiffness while maintaining moderate dexterity the redundant actuation of a parallel manipulator is optimized which determines the optimal distribution of active joints and the optimal internal joint torque, Finally the simulation results for the optimal redundant actuation of a planar parallel manipulator are given.

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Redundant 매니퓰레이터의 force 제어를 위한 신경 회로망 제어기 (Force Controller of the Redundant Manipulator using Seural Network)

  • 이기응;조현찬;전홍태;이홍기
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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    • pp.13-17
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    • 1990
  • In this paper we propose the force controller using a neural network for a redundant manipulator. Jacobian transpose matrix of a redundant manipulator constructed by a neural network is trained by using a feedback torque as an error signal. If the neural network is sufficiently trained well, the kinematic inaccuracy of a manipulator is automatically compensated. The effectiveness of the proposed controller is demonstrated by computer simulation using a three-link planar robot.

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Trajectory Tracking Control of a Real Redundant Manipulator of the SCARA Type

  • Urrea, Claudio;Kern, John
    • Journal of Electrical Engineering and Technology
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    • 제11권1호
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    • pp.215-226
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    • 2016
  • Modeling, control and implementation of a real redundant robot with five Degrees Freedom (DOF) of the SCARA (Selective Compliant Assembly Robot Arm) manipulator type is presented. Through geometric methods and structural and functional considerations, the inverse kinematics for redundant robot can be obtained. By means of a modification of the classical sliding mode control law through a hyperbolic function, we get a new algorithm which enables reducing the chattering effect of the real actuators, which together with the learning and adaptive controllers, is applied to the model and to the real robot. A simulation environment including the actuator dynamics is elaborated. A 5 DOF robot, a communication interface and a signal conditioning circuit are designed and implemented for feedback. Three control laws are executed in: a simulation structure (together with the dynamic model of the SCARA type redundant manipulator and the actuator dynamics) and a real redundant manipulator of the SCARA type carried out using MatLab/Simulink programming tools. The results, obtained through simulation and implementation, were represented by comparative curves and RMS indices of the joint errors, and they showed that the redundant manipulator, both in the simulation and the implementation, followed the test trajectory with less pronounced maximum errors using the adaptive controller than the other controllers, with more homogeneous motions of the manipulator.

여유자유도를 가진 로보트의 pre-multiplier모델에 관한 연구 (A study on the pre-multiplier model for redundant manipulator)

  • 정완균;김진오
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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    • pp.127-130
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    • 1989
  • The redundant manipulator extends the application fields of classical nonredundant manipulators. In this paper, we propose Premultiplier Model that describes the static behavior of redundant manipulator. This model provides insight and intuition about algebra and physics related to redundant manipulators. Active operational space stiffness control of redundant manipulators is proved to be always unstable and we propose a technique, based on our methodology, to make stiffness control stable.

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Task-Oriented Manipulabi1ity Measure를 이용한 이동매니플레이터의 연속작업 수행 (Continuous Task Performance for Mobile Manipulator Using Task-Oriented Manipulability Measure)

  • 진기홍;강진구;주진화;허화라;이장명
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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    • pp.401-401
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    • 2000
  • A mobile manipulator-a serial connection of a mobile robot and a task robot is redundant by itself. Using its redundant freedom, a mobile manipulator can move in various modes, and perform dexterous tasks. An interesting question,

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Computation of Gradient of Manipulability for Kinematically Redundant Manipulators Including Dual Manipulators System

  • Park, Jonghoon;Wangkyun Chung;Youngil Youm
    • Transactions on Control, Automation and Systems Engineering
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    • 제1권1호
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    • pp.8-15
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    • 1999
  • One of the main reason advocating redundant manipulators' superiority in application is that they can afford to optimize a dexterity measure, for example the manipulability measure. However, to obtain the gradient of the manipulability is not an easy task in case of general manipulator with high degrees of redundancy. This article proposes a method to compute the gradient of the manipulability, based on recursive algorithm to compute the Jacobian and its derivative using Denavit-Hartenberg parameters only. To characterize the null motion of redundant manipulators, the null space matrix using square minors of the Jacobian is also proposed. With these capabilities, the inverse kinematics of a redundant manipulator system can be done automatically. The result is easily extended to dual manipulator system using the relative kinematics.

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여유 자유도 매니퓰레이터를 위한 지적 제한 조건을 기반으로 한 Resolved Motion 방법의 특이점에 관한 연구 (On the Singularities of Optimality Constraint-based Resolved Motion Methods for a Redundant Manipulator)

  • 조동권;최병욱;정명진
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 1992년도 하계학술대회 논문집 A
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    • pp.386-390
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    • 1992
  • Algorithmic or kinematic singularities are inevitably a introduced if optimality criteria or augmented kinematic equations are used to resolve the redundancy of almost any manipulator with rotary joints. In this paper, a sufficient condition for a singularity-free optimal solution of the kinematic control of a redundant manipulator is derived and, specifically, algorithmic singularities are analyzed for optimality-based methods. A singularity-free space (SFS) to characterize the performance of a secondary task for a redundant manipulator using the sufficient condition for a redundant manipulator is defined. The SFS is a set of regions classified by the loci of configurations satisfying the inflection condition for manipulability measure in the Configuration space. Using SFS, the topological property of the Configuration space and the invertible workspace without singularities are analyzed.

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