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학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
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논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2010.10
- 수록면
- 2,156 - 2,163 (8page)
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초록· 키워드
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In this paper, the optimum configuration of superfluous cables in redundant planar cable-suspended robots for minimum time trajectory is investigated. Both cable tensions and cable velocities are assumed to be limited. The bounds on the cable tensions and velocities are transformed into the bounds on the acceleration and velocity along the specified path. Assuming bang-bang control and using genetic algorithm, optimum configuration of superfluous cables and the corresponded switching points are obtained. Moreover, the effect of number of superfluous cables on the minimum time is investigated.
목차
Abstract
1. INTRODUCTION
2. PLANAR CABLE SUSPENDED ROBOT DYNAMICS
3. ROBOT DYNAMICS ALONG SPECIFIED PATH
4. TIME OPTIMAL TRAJECTORY TRACKING OF PLANAR CABLE SUSPENDED ROBOTS
5. OPTIMUM DESIGN FOR MINIMUM TIME TRAJECTORY TRACKING
6. NUMERICAL SAMPLES
7. CONCLUSION
References
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UCI(KEPA) : I410-ECN-0101-2014-569-000941105