제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1999년도 제14차 학술회의논문집
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- Pages.25-28
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- 1999
Impact Reduction for Unknown Environment Using Kinematic Redundancy
- Kim, Jinhyun (Robotics & Bio-Mechatronics Lab., Dept. of Mechanical Engineering Pohang University of Science & Technology(POSTECH)) ;
- Chung, Wan-Kyun (Robotics & Bio-Mechatronics Lab., Dept. of Mechanical Engineering Pohang University of Science & Technology(POSTECH)) ;
- Youngil Youm (Robotics & Bio-Mechatronics Lab., Dept. of Mechanical Engineering Pohang University of Science & Technology(POSTECH))
- 발행 : 1999.10.01
초록
In this article, a new performance index is proposed to re-duce the collision impulsive force by controlling the null motion of redundant manipulators. First, we define the normalized impact ellipsoid in the viewpoint of instantaneous velocity change. Then, we propose a new impact performance index based on velocity direction for null motion to reduce initial impulsive effects. It gives some advantage for the case of unknown environment. The optimization of this index is that the successional impact forces are reduced. The performance of the proposed index is demonstrated by simulation study.
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