대한전자공학회논문지 (Journal of the Korean Institute of Telematics and Electronics)
- 제26권10호
- /
- Pages.1471-1478
- /
- 1989
- /
- 1016-135X(pISSN)
두 대의 산업용 로보트를 이용한 협력 작업의 최적 시간 제어
Optimal-Time Synthesis for the Two Coordinated Robot Manipulators
초록
The optimal-time control of the coordinated motion of two robot manipulators may be of consequence in the industrial automation. In this paper two robot manipulators garsping a common object are assumed to travel a specified Cartesian path and the method how to derive the optimal-time solution is explained. This approach is based on parameterizing the corresponding patn and utilizing the phase-plame technique in the trajectory planning. Also the torques supplied by the actuators are assumed to have some constant bounds. The effectiveness of this approach is demonstrated by a computer simulation using a PUMA 560 manipulator.
키워드