서지주요정보
두대의 일반적인 로봇 머니퓰레이터를 위한 거리함수를 이용한 충돌회피 방법 = Collision avoidance methods for two general robot manipulators using distance functions
서명 / 저자 두대의 일반적인 로봇 머니퓰레이터를 위한 거리함수를 이용한 충돌회피 방법 = Collision avoidance methods for two general robot manipulators using distance functions / 장철.
저자명 장철 ; Chang, Cheol
발행사항 [대전 : 한국과학기술원, 1990].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8001583

소장위치/청구기호

학술문화관(문화관) 보존서고

DEE 9030

SMS전송

도서상태

이용가능

대출가능

반납예정일

초록정보

Two methods, time delay and trajectory modification methods for avoiding collisions between two general robot manipulators such as PUMA arms are presented. Robots are approximated by polyhedra for the time delay method and cylinders ended by two hemispheres for the trajectory modification method. The danger of collision between two robots is represented by the distance functions defined between the robots. In the time delay method, the collision map scheme, which can describe collisions between two robots effectively, is adopted. The minimum time delay value needed for collision avoidance can be obtained by a simple procedure of following the boundary of collision region on collision map. In case that the time delay method is not applicable, the trajectory modification method is used. The problem of modifying trajectories to avoid collisions is formulated by an instantaneous optimization problem which minimizes a given cost function subject to physical constraints such as collision-free condition for each sampling stage. The constrained optimization problem is reformulated by an unconstrained optimization problem by the "Barrier Function" technique and to minimize the unconstrained cost function the "Conjugate Gradient" method is used. If the joint torques of robots, as a result of trajectory modification, exceed the torque limits, the dynamics of robots is scaled to meet the torque limits. To evaluate two methods proposed, realistic simulation studies are described.

서지기타정보

서지기타정보
청구기호 {DEE 9030
형태사항 iv, 94 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Cheol Chang
지도교수의 한글표기 : 정명진
지도교수의 영문표기 : Myung-Jin Chung
학위논문 학위논문(박사) - 한국과학기술원 : 전기 및 전자공학과,
서지주기 참고문헌 : p. 89-94
주제 Manipulators (Mechanism)
Depth perception.
Conjugate gradient methods.
Industrial safety.
충돌 방지 장치. --과학기술용어시소러스
궤도 제어. --과학기술용어시소러스
지능 로봇. --과학기술용어시소러스
거리 측정. --과학기술용어시소러스
Trajectory optimization.
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