10 research outputs found
Robot Control near Singularity and Joint Limit Using Continuous Task Transition Algorithm
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ผ๋ฌธ (์์ฌ)-- ์์ธ๋ํ๊ต ์ตํฉ๊ณผํ๊ธฐ์ ๋ํ์ : ์ง๋ฅํ์ตํฉ์์คํ
ํ๊ณผ, 2013. 2. ๋ฐ์ฌํฅ.As intelligent robots are being developed, the robots are expected to execute many kinds of tasks safely in a human environment so that people interact with the robots without any concerns. However, when robots are controlled in the task space, singularities and joint limits are among the most critical and difficult issues that can arise. In this paper, a new approach for the robots is proposed to operate in regions in which singularities and joint limits can arise. The proposed approach utilizes a continuous task transition algorithm. In these cases, new tasks are defined for dealing with singularities and joint limits, and the tasks are activated or deactivated using a continuous task transition algorithm to guarantee the continuous execution of the tasks during the execution of the main task. The proposed approach is implemented on a 6-DOF manipulator called Roman-MD. The performance of the approach is demonstrated in experiments.Abstract
Table of Contents
List of Figures
I. Introduction
II. Continuous task transition approach
2.1 Hierarchical control structure
2.2 Task transition approach for both prioritized tasks and nonprioritized tasks
III. Stability during a transition
IV. Singularity avoidance
4.1 Singularity analysis
4.2 Task control with singularity
V. Joint limit avoidance
5.1 Joint limit avoidance task
5.2 Task control with joint limit
5.3 Task control with joint limit and singularity
VI. Experimental results
6.1 Handling singularity
6.2 Joint limit avoidance task
6.3 Joint limit and singularity avoidanceMaste
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ผ๋ฌธ(์์ฌ) --์์ธ๋ํ๊ต ๋ํ์ :๋ฒํ๊ณผ, 2009.2.Maste
์์ ์ฌ์ ์ ๊ทผ์ ํตํ ๊ณผํ๊ต์ฌ์ ๊ต์์คํ ๋ณํ๊ณผ์ ์ ๊ดํ ์ฌ๋ก์ฐ๊ตฌ
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ผ๋ฌธ(์์ฌ) --์์ธ๋ํ๊ต ๋ํ์ :๊ณผํ๊ต์ก๊ณผ(์ง๊ตฌ๊ณผํ์ ๊ณต),2009.2.Maste