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

DC Field Value Language
dc.contributor.advisor박재흥-
dc.contributor.author한혜진-
dc.date.accessioned2017-07-19T10:54:34Z-
dc.date.available2017-07-19T10:54:34Z-
dc.date.issued2013-02-
dc.identifier.other000000009081-
dc.identifier.urihttps://hdl.handle.net/10371/133163-
dc.description학위논문 (석사)-- 서울대학교 융합과학기술대학원 : 지능형융합시스템학과, 2013. 2. 박재흥.-
dc.description.abstractAs 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.-
dc.description.tableofcontentsAbstract
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 avoidance
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dc.formatapplication/pdf-
dc.format.extent52526379 bytes-
dc.format.mediumapplication/pdf-
dc.language.isoen-
dc.publisher서울대학교 대학원-
dc.subject.ddc620-
dc.titleRobot Control near Singularity and Joint Limit Using Continuous Task Transition Algorithm-
dc.typeThesis-
dc.description.degreeMaster-
dc.citation.pages44-
dc.contributor.affiliation융합과학기술대학-
dc.date.awarded2013-02-
Appears in Collections:
Graduate School of Convergence Science and Technology (융합과학기술대학원)Dept. of Transdisciplinary Studies(융합과학부)Theses (Master's Degree_융합과학부)
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