Study on the Optimal Posture for Redundant Robot Manipulators Based on Decomposed Manipulability

분리된 조작도를 이용한 여유자유도 로봇의 최적 자세에 관한 연구

The conventional robot manipulability is decomposed into linear manipulability and angular manipulability so that they may be analysed and visualized in easy way even in the case of 3 dimensional task space with 6 variables. After the Jacobian matrix is decomposed into linear part and angular part, constraint on joint velocities is transformed into linear task velocity and angular task velocity through the decomposed Jacobian matrices. Under the assumption of redundant robot manipulators, several optimization problems which utilize the redundancy are formulated to be solved by linear programming technique or sequential quadratic programming technique. After deriving the solutions of the optimization problems, we give graphical interpretations for the solutions.