| Title |
Redundancy Utilizations of Redundant Robot Manipulators Based on Configuration Control |
| Authors |
최영규 ; Homayoun Seraji(Homayoun Seraji) |
| Keywords |
여유자유도를 갖는 로보트 머니퓰레이터 ; 기구학함수최적화 ; 형태제어 ; 적응제어 Redundant Robot Manipulator ; Kinematic Function Optimization ; Configuration control ; Adaptive control |
| Abstract |
Previous investigations of redundant manipulators have often focussed on local optimization for redundancy resolution by using the Jacobian pseudoinverse to solve the instantaneous relationship between the joint and end-effector velocities. This paper establishes some new goals for redundancy resolution at position level by using configuration control approach which has been recently developed. Minimum gravity loading, joint limit avoidance, minimum sensitivity, maximum stiffness and minimum impulse are introduced as redundancy resolution goals. These new goals for redundancy resolution allow more efficient utilizations of the redundant joints based on the desired task requirements. Simple computer simulation examples are given for illustration. |