제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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- Pages.739-742
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- 1996
여유 자유도 로봇의 최적 자세 제어
Optimal configuration control for redundant robot manipulators-manipulability-based approach
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Lee, Ji-Hong
;
- Lee, Mi-Gyung ;
- Lee, Young-Il ;
- Yoo, Jun
- 발행 : 1996.10.01
초록
Several figures representing velocity transmission from joint space to task space are analyzed and compared with each other. The figures include velocity ellipsoid derived from Jacobian matrix, scaled velocity ellipsoid derived from normalized joint velocities, polytope derived by numerical scaling, and polytopes derived by linear combinations of Jacobian column vectors. The results show that the optimal directions given by the measures are not the same and the conventional velocity ellipsoid is not good choice as optimization measure as far as the moving direction is concerned. Simulation examples for 3 d.o.f. redundant robot manipulators in 2-dimensional task space are given for comparison study.