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Robot Control near Singularity and Joint Limit Using Continuous Task Transition Algorithm

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Authors
한혜진
Advisor
박재흥
Major
융합과학기술대학
Issue Date
2013-02
Publisher
서울대학교 대학원
Description
학위논문 (석사)-- 서울대학교 융합과학기술대학원 : 지능형융합시스템학과, 2013. 2. 박재흥.
Abstract
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.
Language
English
URI
https://hdl.handle.net/10371/133163
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Graduate School of Convergence Science and Technology (융합과학기술대학원)Dept. of Transdisciplinary Studies(융합과학부)Theses (Master's Degree_융합과학부)
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