작업 적합도를 이용한 양팔 로봇의 운동 계획Motion Planning of Bimanual Robot Using Bimanual Task Compatibility

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A cost-function based on manipulability and compatibility is designed to determine assembly motions of two cooperating manipulators. Assembly motions are planned along the direction maximizing performance indices to improve control performance of the two manipulators. This paper proposes bimanual task compatibility by defining cost functions. The proposed cost functions are applied and compared to the bimanual assembly task. The problem is formulated as a constrained optimization considering assembly constraints, position of the workpieces, and kinematics and redundancy of the bimanual robot. The proposed approach is evaluated with simulation of a peg-in-hole assembly with an L-shaped peg and two 3-dof manipulators.
Publisher
제어·로봇·시스템학회
Issue Date
2008-07
Language
Korean
Citation

제어.로봇.시스템학회 논문지, v.14, no.7, pp.656 - 662

ISSN
1976-5622
URI
http://hdl.handle.net/10203/87571
Appears in Collection
ME-Journal Papers(저널논문)
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