서지주요정보
여유 자유도 로봇의 시간 최소 경로 설계 = Design of time optimal path of redundant manipulator
서명 / 저자 여유 자유도 로봇의 시간 최소 경로 설계 = Design of time optimal path of redundant manipulator / 이재원.
저자명 이재원 ; Lee, Jae-Won
발행사항 [대전 : 한국과학기술원, 1997].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8008023

소장위치/청구기호

학술문화관(문화관) 보존서고

MME 97100

SMS전송

도서상태

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대출가능

반납예정일

초록정보

In this research, a numerical approach is proposed to solve the minimum time trajectory planning problem of kinematically redundant manipulators for a given path. The first step is to transform the trajectory planning problem into an optimal control problem. Then a procedure to find the minimum time solution is proposed. The minimum time control of the manipulator can be devided into two case: first case has object function and second case has no object function. To get the minimum time solution, the following topic is discussed. Firstly, phase plane shooting algorithm used in the non-redundant manipulator cant be adapted to the redundant manipulator. Secondly, the algorithm to get the minimum time control for a general case using dynamic programming(DP) is proposed. In order to obtain a general trajectory planning algorithm which could account for various constraints and performance indices, the technique of dynamic programming is adopted and the dimension of the state space is reduced from two times the number of joints to the number of degree of redundancy. As numerical examples, the trajectory planning method is simulated for a planar three-link robotic manipulator for several paths.

서지기타정보

서지기타정보
청구기호 {MME 97100
형태사항 xii, 89 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Jae-Won Lee
지도교수의 한글표기 : 윤용산
지도교수의 영문표기 : Yong-san Yoon
학위논문 학위논문(석사) - 한국과학기술원 : 기계공학과,
서지주기 참고문헌 : p. 54-55
주제 여유 자유도 로봇
최적 경로
동적 프로그래밍
Redundant manipulator
Optimal trajectory
Dynamic programming
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