서지주요정보
유연한 팔을 갖는 여유자유도 로봇 매니퓰레이터의 진동 감소를 위한 입력 설계에 관한 연구 = Input design of a flexible redundant manipulator for end-point vibration reduction
서명 / 저자 유연한 팔을 갖는 여유자유도 로봇 매니퓰레이터의 진동 감소를 위한 입력 설계에 관한 연구 = Input design of a flexible redundant manipulator for end-point vibration reduction / 김선재.
저자명 김선재 ; Kim, Seon-Jae
발행사항 [대전 : 한국과학기술원, 1998].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8008301

소장위치/청구기호

학술문화관(문화관) 보존서고

DME 98005

휴대폰 전송

도서상태

이용가능

대출가능

반납예정일

초록정보

The use of kinematic redundancy in robot manipulators to achieve additional performance on top of tracing a given end-effector trajectory has been extensively examined. In the past few years, some methods were proposed, which resolves redundancy in order to avoid singularities, evade obstacles, and minimize joint torques, manipulator kinetic energy, end-effector contact forces, etc. However, these approaches have been associated mainly with rigid manipulators. In this paper, we are dealing with flexible redundant manipulators and propose a new redundancy resolving algorithm to reduce the vibration when flexibility is present. The key question is how to choose the self-motion of structually flexible redundant manipulator to prevent undesired flexiblity effects. When self-motion capability is applied to this system, the motion-induced vibration can be reduced by altering the joint trajectory during and after motion, while maintains the end-effector tracing a given trajectory, because self-motion does not affect end-effector motion at all. In this paper we aim to develop an efficient control algorithm to prevent motion-induced vibration by utilizing the self-motion inherent in flexible redundant manipulator. We investigate self-motion effects on flexure motion in modal space as an extension of the works done by Nguyen and Walker. Generally the available DOR is restricted to one or two but the number of degree of freedom(DOF) of flexure motion is much greater than the available DOR. Thus, modal space is introduced to reduce the flexure DOF without loss of accuracy. To prevent the flexibility effects, self-motion is evaluated to nullify the dominant modal force induced by the rigid body motion but not affecting the end-effector motion. The effectiveness and applicability of the proposed algorithm have been demonstrated through numerical simulation with three-link planar robotic manipulators possessing the flexible links.

서지기타정보

서지기타정보
청구기호 {DME 98005
형태사항 x, 103 p. : 삽도 ; 26 cm
언어 한국어
일반주기 Includes appendix
저자명의 영문표기 : Seon-Jae Kim
지도교수의 한글표기 : 박윤식
지도교수의 영문표기 : Youn-Sik Park
수록잡지명 : "Self-motion Utilization for Vibration of a Structurally Flexible Redundant Robot Manipulator System". Robotica. Cambridge University Press
학위논문 학위논문(박사) - 한국과학기술원 : 기계공학과,
서지주기 참고문헌 : p. 93-98
주제 여유자유도 분해
유연한 매니퓰레이터
진동감소
경로설계
자체운동 이용법
Redundancy resolution
Flexible manipulator
Vibration reduction
Self-motion utilization
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