Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Dynamic Manipulability for Cooperating Multiple Robot Systems

공동 작업하는 다중 로봇 시스템의 동적 조작도

  • 심형원 (충남대학교 메카트로닉스공학과)
  • Published : 2004.10.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, both dynamic constraints and kinematic constraints are considered for the analysis of manipulability of robotic systems comprised of multiple cooperating arms. Given bounds on the torques of each Joint actuator for every robot, the purpose of this study is to drive the bounds of task-space acceleration of object carried by the system. Bounds on each joint torque, described as a polytope, is transformed to the task-space acceleration through matrices related with robot dynamics, robot kinematics, object dynamics, grasp conditions, and contact conditions. A series of mathematical manipulations including the procedure calculating minimum infinite-norm solution of linear equation is applied to get the reachable acceleration bounds from given actuator dynamic constrains. Several examples including two robot systems as well as three robot system are shown with the assumptions of complete-constraint contact model(or' very soft contact') and insufficient or proper degree of freedom robot.

Keywords

References

  1. T. Yoshikawa, 'Manipulability of robotic mechanisms,' The International Journal of Robotics Research, vol. 4, no. 2, 1985, Also appearing Robotics Research, The Second International Symposium https://doi.org/10.1177/027836498500400201
  2. A. Bicchi, C. Melchiorri, and D. Balluchi, 'On the mobility and manipulability of general multiple limb robots,' IEEE Transactions on Robotics and Automation, vol. 11, no. 2, pp. 215-228,1995 https://doi.org/10.1109/70.370503
  3. J. H. Lee, 'Velocity workspace analysis for multiple arm robot systems,' Robotica vol. 19, no. 5, pp. 581-591, Sep, 2001 https://doi.org/10.1017/S0263574700003179
  4. F. B. Ouezdou, O. Bruneau, J. C. Guinot, 'Dynamic analysis tool for legged robots,' Multibody System Dynamics 2, pp. 369-391,1998 https://doi.org/10.1023/A:1009730206737
  5. 이지홍, 전봉환, '다족 보행 로봇의 속도 작업 공간 해석', 제어.자동화.시스템공학 논문지,vol.8,no.6,2002
  6. O. Khatib and J. Burdick, 'Optimization of dynamics in manipulator design: The operational space formulation,' The International Journal of Robotics and Automation, vol. 2, no. 2, pp. 90-98, 1987
  7. 이지홍, 조복기, '다족 보행로봇의 동적 조작성 해석', 제어.자동화.시스템공학 논문지, vol. 10, no. 4, 2004
  8. T. Yoshikawa, 'Dynamic manipulability of robot manipulators,' in Proceedings 1985 IEEE International Conference on Robotics and Automation, St. Louis, Missouri. pp.1033-1038, 1985
  9. J. H. Lee, 'A structured algorithm for minimum $l_{infty}$-norm solutions and its application to a robot velocity workspace analysis.' Robotica vol. 19, no. 3, pp. 343352, May, 2001 https://doi.org/10.1017/S0263574700003003
  10. I. S. Ha and J. H. Lee, 'Analysis on a minimum Infinity-norm solution for kinematically redindant manipulators,' Trans. on Control, Automation, and System Engineering, vol. 4. no. 2, Jun., 2002
  11. Y. Nakamura, 'Advanced robotics redundancy and optimization,' Addison-Wesley Publishing Company, 1991
  12. I. C. Shim and Y. S. Yoon, 'Stability constraint for torque optimization of a redundant manipulator,' Proc. IEEE Conf. Robotics and Automation, Albuquerque NM, pp. 2403-2408, April, 1997 https://doi.org/10.1109/ROBOT.1997.619321
  13. I. C. Shim and Y. S. Yoon, 'Stabilized minimum infinity-norm torque solution for redundant manipulators,' Robotica, vol. 16, pt. 2, pp. 193-205, 1998 https://doi.org/10.1017/S0263574798000526
  14. B. Armstrong, O. Khatib, and J. Burdick, 'The explicit model and inertial parameters of the puma 560 arm,' in Proceedings IEEE International Conference on Robotics and Automation, vol. 1, pp. 510-518, 1986