여유 자유도를 갖는 산업용 로봇의 역기구학 해석 및 최적 동작 계획
Inverse Kinematics Solution and Optimal Motion Planning for Industrial Robots with Redundancy
1
조회
0
다운로드
10
인용
0
참고문헌
키워드
초록
This paper presents a method to optimize motion planning for industrial manipulators with redundancy. For optimal motion planning, first of all, particular inverse kinematic solution is needed to improve efficiency for manipulators with redundancy working in various environments. In this paper, we propose three kinds of methods for solving inverse kinematics problems; numerical and combined approach. Also, we introduce methods for optimal motion planning using potential function considering the order of priority. For efficient movement in industrial settings, this paper presents methods to plan motions by considering colliding obstacles, joint limits, and interference between whole arms. To confirm improved performance of robot applying the proposed algorithms, we use two kinds of robots with redundancy. One is a single arm robot with 7DOF and another is a dual arm robot with 15DOF which consists of left arm, right arm with each 7DOF, and a torso part with 1DOF. The proposed algorithms are verified through several numerical examples as well as by real implementation in robot controllers.
Abstract
This paper presents a method to optimize motion planning for industrial manipulators with redundancy. For optimal motion planning, first of all, particular inverse kinematic solution is needed to improve efficiency for manipulators with redundancy working in various environments. In this paper, we propose three kinds of methods for solving inverse kinematics problems; numerical and combined approach. Also, we introduce methods for optimal motion planning using potential function considering the order of priority. For efficient movement in industrial settings, this paper presents methods to plan motions by considering colliding obstacles, joint limits, and interference between whole arms. To confirm improved performance of robot applying the proposed algorithms, we use two kinds of robots with redundancy. One is a single arm robot with 7DOF and another is a dual arm robot with 15DOF which consists of left arm, right arm with each 7DOF, and a torso part with 1DOF. The proposed algorithms are verified through several numerical examples as well as by real implementation in robot controllers.
참고문헌 (8)
- Maria Zanchettin A, "Kinematic analysis and synthesis of the humanarm motion during a manipulation task", IEEEInternational Conference on Robotics andAutomation (2011)
- Masanori Hayakawa, "Singularity Avoidance by Inputting AngularVelocity to a Redundant Axis During CooperativeControl of a Teleoperated Dual‐Arm Robot", IEEE International Conference on Robotics andAutomation (2008)
- Zeng‐Guang Hou, "Multiciteria Optimization for Coordination ofRedundant Robots Using a Dual NeuralNetwork", IEEE TRANSACTIONS ONSYSTEMS, MAN, AND CYBERNETICS, 40(2), pp.1075~1087 (2010)
- Ji Xiang, "General‐Weighted Least‐Norm Control forRedundant Manipulators", IEEE Transactions onRobotics, 26(4), pp.660~669 (2010)
- Nakamura Y, "Advanced Robotics Redundancy and Optimization" (1991), Addison‐Wesley
- Andrew A, "A Complete Generalized Solution to the Inverse Kinematics of Robots", IEEE Journal of Robotics and Automation, 1, pp.14~20 (1985)
- Gonzalez, Rafael C, "Robotics: Control, Sensing, Vision, And Intelligence" (1987), McGraw‐Hill Book