다물체 동역학 해석 기법을 이용한 3 DOF 모듈라 로봇 최적 조합 검색

다국어 초록 (Multilingual Abstract)

As applications of robots are expanded, the manufacturer-centered off-the-shelf robots have reached their limit for the high cost and the limited flexibility in application. As an alternative to the fixed-configuration robots, the need for modular robots that can be used in various environments by reconfiguration has increased. In order to examine and verify the sufficiency of a particular configuration of the modular robot to the given tasks, we need a process to determine the most suitable combination. In this paper, a dynamic analysis program, instead of the inverse kinematics approach, is used to verify that the configurations of the modular robots can perform the required motion. Also a process that automatically generates dynamics models of the modular manipulators for the dynamics analysis is introduced and used to examine the feasibility of the modular robot configurations for the given task.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 최적 조합 선정 과정
• 3. 동역학 모델 구성
• 4. 모델 자동 생성 및 해석 프로세스
• 5. 비용함수(Cost-Function) 계산
• 6. 결과
• 7. 결론
• 참고문헌