서지주요정보
Actuator 제한조건을 고려한 기계시스템의 최적경로 계획에 대한 연구 = On the optimal path planning of mechanical system with actuator constraints
서명 / 저자 Actuator 제한조건을 고려한 기계시스템의 최적경로 계획에 대한 연구 = On the optimal path planning of mechanical system with actuator constraints / 고병식.
저자명 고병식 ; Ko, Byeong-Sik
발행사항 [서울 : 한국과학기술원, 1986].
Online Access 원문보기 원문인쇄

소장정보

등록번호

4104040

소장위치/청구기호

학술문화관(문화관) 보존서고

MME 8661

SMS전송

도서상태

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반납예정일

초록정보

In this thesis, a theory for optimal path planning of general three dimensional mechanical systems is developed to minimize operation time of the systems that are driven to pass a specified path. In the optimization problem formulation, the operation time is taken as cost function to be minimized, system kinematic equations and equation of motion with Lagrange Multipliers as state equations, time required to pass each interval of the path as design variables, and maximum actuator capacities and time histories of actuator torques as design constraints. The time history constraints are imposed to consider retarded responses of actual actuators. An adjoint variable technique is utilized to perform the first order design sensitivity analysis of the functions in the problem and the system is optimized through the gradient algorithm. A computer program based on the theory is developed and tested with an example of a six degrees oof freedom industrial robot. It is found that the suggested method is stable and minimization of ooperation time is achieved.

서지기타정보

서지기타정보
청구기호 {MME 8661
형태사항 [vii], 66, [1] p. : 삽도 ; 26 cm
언어 한국어
일반주기 부록 수록
저자명의 영문표기 : Byeong-Sik Ko
지도교수의 한글표기 : 유영면
지도교수의 영문표기 : Yung-Myun Yoo
학위논문 학위논문(석사) - 한국과학기술원 : 기계공학과,
서지주기 참고문헌 : p. 63-66
주제 Trajectory optimization.
Actuators.
Lagrangian functions.
Robots --Programming.
Lagrange 방정식. --과학기술용어시소러스
궤도 결정론. --과학기술용어시소러스
액추에이터. --과학기술용어시소러스
로봇. --과학기술용어시소러스
최적화. --과학기술용어시소러스
Path analysis.
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