서지주요정보
2관절 평면 로보트에 대한 좌표 역변환의 실시간 해법에 관한 연구 = A study on the new approach for solving the inverse kinematics of the two-link planar robot in real time
서명 / 저자 2관절 평면 로보트에 대한 좌표 역변환의 실시간 해법에 관한 연구 = A study on the new approach for solving the inverse kinematics of the two-link planar robot in real time / 박서욱.
저자명 박서욱 ; Park, Seo-Wook
발행사항 [서울 : 한국과학기술원, 1988].
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등록번호

4105131

소장위치/청구기호

학술문화관(문화관) 보존서고

MPE 8806

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초록정보

For the sophisticated robotic applications such as hybrid control, tracking control, compliance control etc., a real-time interpretation of the coordinate transformation is essential to the articulated robot. In these applications, the calculation time which is required for the coordinate transformation limits the speed of robot motion. This paper presents an algorithm which decouples the joint motion of the articulated robot manipulator into cartesian space. Each link motion can be resolved into the BRU ( Basic Resolution Unit ), $\delta$ℓ = ℓ$\delta\theta$ , where ℓ is link length and $\delta\theta$ is a resolution of the incremental encoder attached to the joint. When x- and y- plane projection of the end-point movement are expressed in $\delta$ℓ unit, projectional increments $\delta$x and $\delta$y become -1,0 or 1. Consequently the calculation with these ternary value can be executed by the simple logic rules rather than arithmetic manipulations. For the path planning, BCU( Basic Command Unit ) can be defined. BCU is given by a single $\delta$ℓ in cartesian space. The proposed algorithm generates a manipulation signal to each joint to produce a single BCU motion in the corresponding cartesian space. A specified path can be achieved by combination of x- and y-axis BCU. This paper demonstrates the proposed method in two-link planar robot. This method, however, can be extended into more general cases. Furthermore, since the algorithm employs one's and zero's only, hardware implementation is possible for drastic improvement of calculation speed in the real-time application.

서지기타정보

서지기타정보
청구기호 {MPE 8806
형태사항 iv, 60 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Seo-Wook Park
지도교수의 한글표기 : 오준호
지도교수의 영문표기 : Jun-Ho Oh
학위논문 학위논문(석사) - 한국과학기술원 : 생산공학과,
서지주기 참고문헌 : p. 34-36
주제 Robots --Motion.
Real-time data processing.
Coordinate transformation.
Path analysis.
좌표 변환. --과학기술용어시소러스
실시간 처리. --과학기술용어시소러스
기구학. --과학기술용어시소러스
로봇. --과학기술용어시소러스
Kinematics.
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