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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Optimized Motion Planning Considering the Lifetime for Bimanual Robotic Assembly

양팔 로봇을 이용한 조립 작업에서 수명을 고려한 최적 운동 계획법

  • Hwang, Myun Joong (Department of Mechanical Engineering, Korea National University of Transportation)
  • 황면중 (한국교통대학교 기계공학과)
  • Received : 2015.05.27
  • Accepted : 2015.08.21
  • Published : 2015.10.01
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Abstract

The objective of this research is to verify the quantitative efficiency of a bimanual robotic task. Bimanual robots can realize dexterous and complicated motions using two cooperating arms. However, its motion planning and control method are not simple for implementing flexible tasks such as assembly. In this paper, the proposed motion planning method is used to find an optimal solution satisfying a designed cost function and constraints with regard to the kinematics and redundancy of the bimanual robot. The simulation results show that the lifetime of the manipulator can be changed by the proposed cost function consisting of angular velocity and angular acceleration of each joint in the same assembly task.

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References

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