제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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- Pages.82-87
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- 1994
인체형 로봇 매니퓰레이터의 동역학적 최적설계
Dynamic optimal design of an anthropomorphic robot manipulator
초록
In this study, dynamic optimal design far a two degree-of-freedom anthropomorphic robot module is performed. Several dynamic design indices associated with the inertia matrix and the inertia power array are introduced. Analysis for the relationship between the dynamic parameters and the design indices shows that trade-offs exist between the isotropy and the dynamic design indices related to the actuator size. A composite design index is employed to deal with multi-criteria based design with different weighting factors, in a systematic manner. We demonstrate the fact that dynamic optimization is another significant step to enhance the system performances, followed by kinematic optimization.
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