대한전자공학회:학술대회논문집 (Proceedings of the IEEK Conference)
- 대한전자공학회 2003년도 하계종합학술대회 논문집 V
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- Pages.2709-2712
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- 2003
동적 제약 조건하에서 두 대 로봇이 공동으로 잡고 나르는 물체의 최대 가속도 범위 해석
Acceleration Bounds of Cooperating Two Robots under Dynamical Constraint
초록
In this paper, dynamic constraints are considered for the analysis of manipulability of robotics systems comprised of two cooperating arms. Given bounds on the torques of joint actuators for each robot, the purpose of this study is to derive the bounds of task acceleration of object carried by the system. Under the assumption of complete constraint contact, a set of examplar polytope describing acceleration bounds of two cooperating robots are included.
키워드