지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2011.6
- 수록면
- 130 - 140 (11page)
이용수
초록· 키워드
오류제보하기
This paper proposes an optimal posture for the task-oriented movement of dual arm manipulator. A stability criterion function which consists of three kinds of feature-representative parameters has been utilized to define the optimal posture. The first parameter is the force which is applied to the object. The torque of each joint and position of arm are attained from the current sensor and encoder, respectively. From these two data, the applied force to an object is estimated using sum of vectors of the joint torques estimated from the measured current. In order to investigate the robustness of each posture, the variation of the end-effector from the encoder information has been utilized as the second parameter. And for the last parameter for the optimality, the total energy consumption has been used. The total consuming energy of each posture can be computed from the current information and the battery voltage. The proposed robot structure consists of a mobile inverted pendulum and dual manipulators. In order to define the optimal posture for the each object, external disturbances are applied to the mobile inverted pendulum robot and the first and second parameters are investigated to find the optimal posture among the pre-selected most representative postures. Finally, the proposed optimal posture has been verified by the proposed stability criterion function which consists of total force to the object, the fluctuation of the end-effector position, and total energy consumption. The effectiveness of the proposed algorithms has been verified and demonstrated through the practical simulations and real experiments.
목차
Abstract
1. 서론
2. 최적 토크 함수
3. 실험 환경
4. 실험 결과
5. 결론
참고문헌
참고문헌 (18)
참고문헌 신청
1. [학술대회논문] - Y. C. Lee / 2008 / Object grasp method of the service robot using the ,robot vision / Conference on Korean Society for Precision Engineering : 7 ~ 8
2. [학술대회논문] - N. Vahrenkamp / 2009 / Planning and execution of grasping motions on a humanoid robot / IEEERAS International Conference on Humanoid Robots
3. [학술대회논문] - C. Eitner / 2008 / Task and vision based online manipulator trajectory generation for a humanoid robot / Humanoids 2008. 8th IEEE-RAS International Conference on : 293 ~ 298
4. [학술대회논문] - C. Ott / 2006 / A humanoid two-arm system for dexterous manipulation / IEEE-RAS Int. Conf. on Humanoid Robots : 276 ~ 283
5. [학술대회논문] - A. Miller / 2003 / Automatic grasp planning using shape primitives / IEEE International Conference on Robotics and Automation : 1824 ~ 1829
2. [학술대회논문] - N. Vahrenkamp / 2009 / Planning and execution of grasping motions on a humanoid robot / IEEERAS International Conference on Humanoid Robots
3. [학술대회논문] - C. Eitner / 2008 / Task and vision based online manipulator trajectory generation for a humanoid robot / Humanoids 2008. 8th IEEE-RAS International Conference on : 293 ~ 298
4. [학술대회논문] - C. Ott / 2006 / A humanoid two-arm system for dexterous manipulation / IEEE-RAS Int. Conf. on Humanoid Robots : 276 ~ 283
5. [학술대회논문] - A. Miller / 2003 / Automatic grasp planning using shape primitives / IEEE International Conference on Robotics and Automation : 1824 ~ 1829
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UCI(KEPA) : I410-ECN-0101-2020-559-001259418