제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제9권6호
  • /
  • Pages.456-465
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  • 2003
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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여유구동을 활용한 생체모방 궤적계획

Biomimetic Trajectory Planning Via Redundant Actuation

  • 이재훈 (한양대학교 전자컴퓨터공학부) ;
  • 이병주 (한양대학교 전자컴퓨터공학부)
  • 발행 : 2003.06.01
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초록

It is well-known that bio-systems does not calculate inverse dynamics for trajectory planning, but they move by proper modulation of system impedances. Inspired by bio-systems, a biomimetic trajectory planning method is proposed in this work. This scheme is based on employment of redundant actuation which prevails in bio-systems. We discuss that for the generation of the biomimetic trajectory, intelligent structure of bio-systems plays an important role. Redundant actuation and kinematic redundancy fall into such a category of intelligent structure. The proposed biomimetic trajectory planning modulates the complete dynamic behavior such as natural frequencies and damping ratios by using the intelligent structure. Experimental work is illustrated to show the effectiveness of the proposed biomimetic trajectory planning for a five-bar mechanism with redundant actuators.

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참고문헌

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