목차

차 례
1. 서론 ····························································································································································· 1
1.1. 연구 배경 ·················································································································································· 1
1.2. 선행 연구 및 문제점 ······························································································································· 3
1.3. 연구 목표 및 내용 ··································································································································· 3
2. 로봇 매니퓰레이터 시스템 구성 ··················································································································· 6
2.1. 로봇 매니퓰레이터 하드웨어 구성 ······································································································· 6
3. 로봇 매니퓰레이터의 기구학적 해석 ····································································································· 11
3.1. D-H 파라미터 ········································································································································ 11
3.2. 로봇 자코비안 행렬 ···························································································································· 12
3.2.1. x, y, z축 자코비안 정의 ············································································································ 12
3.2.2. 롤, 피치, 요 자코비안 ················································································································ 13
3.3. 역기구학적 접근 ···································································································································· 17
3.3.1. 역기구학적 접근 개념 ················································································································· 17
3.3.2. 정방행렬이 아닌 경우의 역행렬 ······························································································· 17
3.3.3. 수치 해석적 방법에 따른 고려사항 ·························································································· 19
3.3.4. 회전행렬에 대한 정의 ················································································································· 20
3.3.5. 여유자유도를 이용한 로봇자세변화(re-solution) ································································· 21
3.3.6. 2자유도 모델에 대한 로봇자세변화 ························································································· 23
3.4. 7DOF 로봇 역기구학 해석 ·················································································································· 26
3.4.1. 7DOF 로봇의 모델 및 D-H파라미터 ······················································································· 26
3.4.2. 역기구학 해석 ······························································································································· 27
3.5. 역기구학 전체 순서도 ··························································································································· 31
4. 장애물 회피 및 경로 생성 ·························································································································· 33
4.1. 기울기를 이용한 포텐셜 필드 ············································································································· 33
4.2. 1자유도(질점)에서의 포텐셜 필드 ······································································································ 36
4.2.1. 인력(Attractive Force) ·············································································································· 36
4.2.2. 척력(Repulsive Force) ·············································································································· 37
4.2.3. 1자유도 질점에 대한 수치 해석적 접근 ·················································································· 39
4.2.4. 포텐셜 필드 방법의 모바일 로봇 응용 ···················································································· 41
4.3. 로봇 팔에서의 포텐셜 필드 ················································································································· 44
4.3.1. 다자유도 강체에 대한 포텐셜 필드 고찰 ················································································ 44
4.3.2. 장애물 형상에 대한 고려 ··········································································································· 46
4.3.3. 힘과 토크의 관계 ························································································································· 47
4.3.4. 다자유도 강체에서의 자코비안 ································································································· 49
4.3.5. 질점과 강체의 구속조건 ············································································································· 52
4.3.6. 장애물 척력 작용에 대한 고찰 ································································································· 57
1) 매개변수 t를 이용한 점과 직선의 방정식 ··············································································· 58
2) 정사영과 벡터를 이용한 표현 ···································································································· 60
3) 매개변수와 Att벡터, 장애물 최단거리를 이용한 판별행렬 설계 ········································· 62
4) 3링크 , 2개의 장애물을 가지고 있는 경우. ············································································ 65
5) 경계조건에 따른 판별행렬 ·········································································································· 68
4.3.7. 장애물에 대한 경로계획 ············································································································· 70
4.3.8. 국소 최소값(local minimum) 문제 ························································································· 73
4.3.9. 가상의 소스(virtual source) 방법을 이용한 국소 최소값 회피 ········································ 76
4.4. 역기구학해석 및 경로생성알고리즘 ································································································· 81
4.4.1. 자코비안 수치해석 및 포텐셜 필드 ·························································································· 81
4.4.2. 로봇의 위치에 따른 선형적 증분값 ·························································································· 81
4.4.3. 진동방지를 위한 평균 각도 계산 ····························································································· 83
4.4.4. 궤적계획 ········································································································································ 84
4.4.5. 역기구학 해석 및 경로생성 ······································································································· 85
4.5. 경로계획 순서도 ···································································································································· 87
5. 시뮬레이션 및 실험 ······································································································································ 89
5.1. 구(Sphere)형상으로 모델링 가능한 장애물 ····················································································· 89
5.1.1. 로봇팔과 구 형상 장애물의 기하학적 정보 ············································································ 89
5.1.2. 구 형상 장애물의 시뮬레이션 실험 ·························································································· 92
1) 매트랩 view(140,40) 시점에서의 로봇팔 경로 ······································································· 92
2) 매트랩 view(84,16) 시점에서의 로봇팔 경로 ········································································· 93
5.1.3. 로봇팔의 구 형상 장애물 회피 실험 ························································································ 96
5.1.4. 실험결과 ········································································································································ 98
5.2. 원기둥(Cylinder)형상으로 모델링 가능한 장애물 ··········································································· 99
5.2.1. 로봇팔과 원기둥 형상 장애물의 기하학정 정보 ···································································· 99
5.2.2. 원기둥형상 장애물의 시뮬레이션 실험 ·················································································· 101
1) 매트랩 view(147,45) 시점에서의 로봇팔 경로 ····································································· 101
5.2.3. 로봇팔의 원기둥 형상 장애물 회피 실험 ·············································································· 104
5.2.4. 실험결과 ······································································································································ 106
6. 결론 ···················································································································································· 107