여유자유도 직렬형 로봇의 속도 타원에 대한 기하적 분석
Geometric Analysis on the Velocity Ellipsoids of Redundant Serial Robots
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초록
For redundant serial robots, an in-depth analysis is made on the geometric relationshipamong their velocity ellipsoids, which vary depending on the number of redundant inputs. Suchan analysis leads to an overall grasp of how the performance of a serial robot changes across theentire output space due to the introduction of redundancy. First, the velocity ellipsoid of aredundant serial robot is obtained as the range of outputs, mapped from the unit sphere in theinput space, and the geometric shape of the velocity ellipsoid is fully described. Second, thecondition for which contact occurs among the velocity ellipsoids is derived from redundant inputs. The inclusion relationship among the velocity ellipsoids is systematically identified based on theconversion of the input space constraints into the output space constraints. Third, the case studyof two and three DOF serial robots is presented with the simulation results to illustrate theinclusion relationship among the velocity ellipsoids of redundant serial robots.
Abstract
For redundant serial robots, an in-depth analysis is made on the geometric relationshipamong their velocity ellipsoids, which vary depending on the number of redundant inputs. Suchan analysis leads to an overall grasp of how the performance of a serial robot changes across theentire output space due to the introduction of redundancy. First, the velocity ellipsoid of aredundant serial robot is obtained as the range of outputs, mapped from the unit sphere in theinput space, and the geometric shape of the velocity ellipsoid is fully described. Second, thecondition for which contact occurs among the velocity ellipsoids is derived from redundant inputs. The inclusion relationship among the velocity ellipsoids is systematically identified based on theconversion of the input space constraints into the output space constraints. Third, the case studyof two and three DOF serial robots is presented with the simulation results to illustrate theinclusion relationship among the velocity ellipsoids of redundant serial robots.
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