서지주요정보
두대의 로보트를 위한 충돌회피 궤적선정 = Collision-free trajectory planning for two robots
서명 / 저자 두대의 로보트를 위한 충돌회피 궤적선정 = Collision-free trajectory planning for two robots / 신유식.
저자명 신유식 ; Shin, You-Shik
발행사항 [대전 : 한국과학기술원, 1989].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8000099

소장위치/청구기호

학술문화관(문화관) 보존서고

DEE 8930

SMS전송

도서상태

이용가능

대출가능

반납예정일

초록정보

An approach for collision-free trajectory planning along designated paths of two robots in a common workspace is presented. Specifically, in order to describe potential collision between the links of two robots along the designated paths, explicit forms of virtual obstacle are adopted, according to which links of one robot are made to grow while the other robot is forced to shrink as a point on the path. Then a notion of coordination space is introduced to visualize all the collision-free coordinations of two robots and a problem is formulated and resolved in order to find the optimal coordination curve which trade off between safety of two robots and difference of degree of accomplishment. To find actual trajectories for the two robots, the minimum time collision-free trajectory pair is sought along the chosen collision-free coordination curve considering dynamic constraints of torque and velocity bounds of actuators of the two robot.

서지기타정보

서지기타정보
청구기호 {DEE 8930
형태사항 [vi], 86 p. : 삽도 ; 26 cm
언어 한국어
일반주기 부록 수록
저자명의 영문표기 : You-Shik Shin
지도교수의 한글표기 : 변증남
지도교수의 영문표기 : Zeung-Nam Bien
학위논문 학위논문(박사) - 한국과학기술원 : 전기 및 전자공학과,
서지주기 참고문헌 : p. 75-80
주제 Robots --Control systems.
System safety.
로봇. --과학기술용어시소러스
충돌 방지 장치. --과학기술용어시소러스
궤도 제어. --과학기술용어시소러스
Trajectory optimization.
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