한국지능시스템학회논문지 (Journal of the Korean Institute of Intelligent Systems)

  • 제6권2호
  • /
  • Pages.111-119
  • /
  • 1996
  • /
  • 1976-9172(pISSN)
  • /
  • 2288-2324(eISSN)
한국지능시스템학회 (Korean Institute of Intelligent Systems)
권호 표지

퍼지최적 부하분배에 의한 다중협력 로보트 매니퓰레이터의 최적시간 제어

Time-Optimal Control for Cooperative Multi-Robot Manipulators Based on Fuzzy Optimal Load Distributioin

  • 조현찬 (한국기술교육대학교 전자공학과) ;
  • 김용호 (중앙대학교 전자공학과) ;
  • 전홍태 (중앙대학교 전자공학과)
  • 발행 : 1996.06.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

In this paper, we propose time-optimal trajectory planning algorithms for cooperative multi-robot manipulators system considering optimal load distribution. Internal forces essentially effect on time optimal trajectory planning and if they are comitted, the time optimal scheme is not no longer true. Therefore, we try to find the internal force factors of cooperative robot manipulators system in a time-optimal aspect. In this approach, a specific generalized inverse is used and is fuzzified for the purpose. In this optimal method, the fuzzy logic concept is used and selected for diminishing computation time, for finding the load distribution factors.

키워드

참고문헌

  1. Int. Journal of Robotics Research v.4 no.3 Time Optimal control of robot manipulators along specified paths J.E.Bobrow;S.Dubowsky;J.S.Gibson
  2. in Proc. 29th IEEE Conf. Fecision and Control Minimum-Time Trajectory for Two Robots Holding the Workpiece J.E.Bobrow;J.M.McCarthy;V.K.Chu
  3. Int. Journal of Control v.56 no.4 General structure of time-optimal control of robotic manipulators moving along prescribed paths Yaobin Chen;Stanlfy,Y.P.Chien;Alan,A.Destochers
  4. 전자공학회 논문지 v.26 no.10 두 대의 산업용 로보트를 이용한 협렵 작업의 최적 시간 제어 조현찬;전홍태
  5. Fuzzy Mathematical Techniques with Applications Abraham Kandel
  6. Fuzzy sets, Uncertainty, and Information G.J.Klir;T.A.Folger
  7. IEEE Trans. on System Man and Cybernetics v.20 no.2 Fuzzy Logic in Control Systems : Fuzzy Logic Controller-Part Ⅱ,Ⅲ C.C.Lee
  8. In Proc. 29th IEEE Conf. Decision and Control Time optimal Trajectories for cooperative multi-robot systems S.B.Moon;Shaheen Ahmad
  9. Fuzzy Control and Fuzzy Systems Witold Pedrycz
  10. IEEE Trans. on Automatic Control v.ac-30 no.6 Minimum time control of robotic manipulators with geometric constraints K.G.Shin;N.D.Mckay
  11. IEEE Conf. of Robotics and Automation Dynamic Task Distribution for Multple Cooperating Robot Manipulators Ian,D.Walker;Robert,A.Freeman;Steven,I.Marcus
  12. in IEEE Int. Conf. of Robotics and Automation Optimal Load Distribution for Two Industrial Robots Handling a Single Object Y.Zheng;J.Luh