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여유구동 3RRR 병렬로봇의 힘분배 제어에 관한 연구
Torque Distribution Control of 3RRR Redundant Parallel Robot

이상문   (영남대학교 기계공학부UU0000951  ); 이재원   (영남대학교 기계공학부UU0000951  ); 심호석   (영남대학교 기계공학부UU0000951  );
  • 초록

    In the redundant actuation system which has more actuators than a system's mobility, there are various method to determine actuated torques because those are not determined uniquely. This paper presents a torque distribution method using weighted-pseudoinverse to optimize the maximum torque of various actuated inputs of the redundant system. The various weighting factor of weighted-pseudoinverse is studied to reduce maximum actuated torque. This method is experimentally applied to 3RRR parallel robot, which shows that presented method can efficiently reduce the maximum actuated torque.


  • 주제어

    여유구동 .   토크 분배 .   가중치 요소 .   최소 구동력 .   가중의사역행렬.  

  • 참고문헌 (13)

    1. Lee, S. H., Yi, B. J. and Kwak, Y. K., 'Performance Analysis and Optimal Actuator Sizing for Anthropomorphic Robot Modules with Redundant Actuation,' Journal of the Korean Society of Mechanical Engineers, Vol. 19, No. 1, pp. 181-192, 1995 
    2. Kim, S. B., 'Operational quality analysis of parallel manipulators with actuation redundancy,' IEEE International Conference on Robotics and Automation, pp. 2651-2657, 1997 
    3. Tsai, L. W., 'Robot Analysis - The Mechanics of Serial and Parallel Manipulators,' John Wiley & Sons INC, pp. 223-231, 1999 
    4. Ropponen, T. and Nakamura, Y., 'Singularityfree parameterization and performance analysis of actuation redundancy,' IEEE International Conference on Robotics and Automation, Vol. 2, pp. 806-811, 1990 
    5. Lee, S. H., 'Control of active stiffness and impact disturbance by redundantly actuated mechanism,' Ph. D. Thesis, KAIST, 2001 
    6. Jeong, J. I. and Kim, J. W, 'Kinematic Calibration Method for Redundantly Actuated Parallel Mechanisms,' Proceedings of the Korean Society for Precision Engineering Autumn Conference, pp. 355-360, 2002 
    7. Kim, J. S., Kim, W. K. and Cho, W., 'Study on the Precision Characteristics of a Planar 3 Degrees-of-Freedom Parallel Mechanism,' Proceedings of the Korean Society for Precision Engineering Autumn Conference, pp. 781-786, 1996 
    8. Kim, T. J., Yi, B. J. and Suh, H., 'Load Distribution Algorism and Experimentation for a Redundantly Actuated, Singularity-free 3-DOF Parallel Haptic Device,' IEEE/RSJ International Conference on Intelligent Robot and system, Vol. 3, pp. 2899-2904, 2004 
    9. Park, J. H, Chung, W. K. and Youm, Y. G., 'Weighted Decomposition of Kinematics and Dynamics of Kinematically Redundant Manipulators,' IEEE International Conference on Robotics and Automation, Vol. 1, pp. 480-486, 1996 
    10. Kock, S. and Schumacher, W., 'A Parallel x-y Manipulator with Actuation Redundancy for High-Speed and Active-stiffness Application,' IEEE International Conference on Robotics and Automation, Vol. 3, pp. 2295-2300, 1998 
    11. Yi, B. J., Kim, W. K. and Kim, D. K., 'Analysis for Fault Tolerant Capabilities of Robots with Kinematic and Force Redundancies,' Journal of the Korean Society of Mechanical Engineers, Vol.19, No. 11, pp. 2927-2938, 1995 
    12. Park, D. I., Lee, S. H. and Kim, S. H., 'Torque distribution using a weighted pseudoinverse in a redundantly actuated mechanism,' VSP and Robotics Society of Japan, Vol. 17, No. 8, pp. 807-820, 2003 
    13. Ryu, G. H. and Cho, B. K., 'A Study on the Kinematic Analysis of a 6-DOF Parallel Robot Manipulator,' Journal of the Korean Society for Precision Engineering, Vol. 12, No. 5, pp. 149-156, 1995 
  • 이 논문을 인용한 문헌 (2)

    1. Lee, Jong-Gyu ; Lee, Sang-Ryong ; Lee, Choon-Young ; Yang, Seung-Han 2012. "Kinematics Analysis of a 2-DOF Parallel Manipulator" 한국정밀공학회지 = Journal of the Korean Society of Precision Engineering, 29(1): 64~71     
    2. Kim, Byeong-Soo ; Lee, Jeh-Won ; Kim, Young-Suk ; Kim, Jin-Dae ; Lee, Hyuk-Jin 2012. "The Study of Kinematic Analysis and Control by Optimum Design of Redundantly Actuated Parallel Robot" 한국정밀공학회지 = Journal of the Korean Society of Precision Engineering, 29(4): 426~432     

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