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여유자유도 로봇의 주기적 운동제어를 위한 역기구학 해의 개발
정용섭,최용제 대한기계학회 1995 대한기계학회논문집 Vol.19 No.1
This paper presents a new kinematic control strategy for serial redundant manipulators which gives repeatability in the joint space when the end-effector undergoes some general cyclic motions. Theoretical development has been accomplished by deriving a new inverse kinematic equation that is based on springs being conceptually located in the joints of the manipulator. Although some inverse kinematic equations for serial redundant manipulators have been derived by many researchers, the new strategy is the first to include the free angles of torsional springs and the free lengths of the translational springs. This is important because it ensures repeatability in the joint space of a serial redundant manipulator whose end-effector undergoes a cyclic type motion. Numerical verification for repeatability is done in terms of Lie Bracket Condition. Choices for the free angle and torsional stiffness of a joint (or the free length and translational stiffness) are made based upon the mechanical limits of the joints.
정용섭 金烏工科大學校 1994 論文集 Vol.15 No.-
Singulatiry configuation avoidance for redunant robots utilizing the Jacobian is discussed from a kinematic viewpoint. A det(JJ) has its zero value at a point of the det(JJ) is a criterion for the singularity configurantion analysis of redundant robots. It is known that the summation of all subdeterminants squared of the Jacbian equals the det(JJ) from the Cauchy-Binet therorem. A new approach to singularity configuration avoidance is introduced by maximizing the objective function obtained from all singularity configuration avoidance. An optimization method is used to solve the inverse Jacobian martix when solving for joint variables. Furthermore this scheme does not need the gradient of an objective which has a very complex expression in a symbolic from.