서지주요정보
가중의사역행렬을 이용한 여유구동의 힘분배 기법에 관한 연구 = Torque distribution using weighted pseudoinverse in redundantly actuated mechanism
서명 / 저자 가중의사역행렬을 이용한 여유구동의 힘분배 기법에 관한 연구 = Torque distribution using weighted pseudoinverse in redundantly actuated mechanism / 박동일.
저자명 박동일 ; Park, Dong-Il
발행사항 [대전 : 한국과학기술원, 2002].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8012767

소장위치/청구기호

학술문화관(문화관) 보존서고

MME 02024

SMS전송

도서상태

이용가능

대출가능

반납예정일

초록정보

Redundant actuation means that there are more actuators than system's mobility. For example, the human arm has 29 muscles for 7 mobilities, and redundant system is also used in multi-fingered robot, mobile robot, and cooperating robot. There are many advantages in redundant actuation. First, actuation redundancy can increase the force, velocity and acceleration of end-effector. Second, if some actuators are out of order, that system can work well. This fault tolerant capability is useful for the remote control robot in space or the nuclear plant. And then, modulating the arbitrary stiffness without feedback control, impulsive force can decrease. Optimizing redundancy, the performance of system can be improved. But, there are some issues on economic efficiency and minimization of system, because redundant actuation can use more actuators than non-redundant actuation. In addition, there are the infinite torque sets of motors for the same work. I used the weighted pseudoinverse matrix for torque distribution. To reduce the maximum torque, I suggested to use the minimum norm torque value as the weighting value. Reducing the maximum torque can contribute to economic efficiency and minimization of system.

서지기타정보

서지기타정보
청구기호 {MME 02024
형태사항 vi, 51 p. : 삽도 ; 26 cm
언어 한국어
일반주기 부록 : A, Generalized dot product. - B, 의사역행렬(pseudo iverse)
저자명의 영문표기 : Dong-Il Park
지도교수의 한글표기 : 곽윤근
지도교수의 영문표기 : Yoon-Keun Kwak
학위논문 학위논문(석사) - 한국과학기술원 : 기계공학전공,
서지주기 참고문헌 수록
주제 여유구동
힘분배
가중의사역행렬
Redundant Actuation
Torque Distribution
Weighted Pseudoinverse
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