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Joint-Limit Avoidance and Kinetic-Energy Minimization in Manipulators Having Surplus Joints

Title
Joint-Limit Avoidance and Kinetic-Energy Minimization in Manipulators Having Surplus Joints
Author
이병주
Keywords
Manipulator with surplus joints; Joint-limit avoidance; Kinetic-energy minimization
Issue Date
2008-10
Publisher
KOREAN PHYSICAL SOC
Citation
JOURNAL OF THE KOREAN PHYSICAL SOCIETY, v. 53, No. 4, Page. 1910-1918
Abstract
Every robot, like the human-body, has its allowable range of joint angle. In order riot to exceed the allowable joint ranges, previous studies proposed ail optimization algorithm, which employed surplus joints of robots to prevent joint-limit violation. However, this algorithm does riot fully utilize the entire motion range of joints because this algorithm controls the joint angle to come close to the middle position of each joint's range. Also, it consumes relatively large kinetic energy. This paper proposes a new motion planning algorithm that prevents joint-limit violation, utilizes a wide motion range of joints and minimizes the kinetic-energy consumption. The feasibility of the proposed algorithm was verified through a simulation study of several example manipulator models having surplus joints.
URI
http://www.jkps.or.kr/journal/view.html?volume=53&number=4&spage=1910&year=2008https://repository.hanyang.ac.kr/handle/20.500.11754/80746
ISSN
0374-4884
DOI
10.3938/jkps.53.1910
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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