Analysis and control of kinematically redundant manipulators under inequality constraints부등식 구속조건 하에서의 여유자유도 머니퓰레이터의 해석과 제어

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First, this thesis addresses characteristics of optimal solutions (COS) in resolving manipulator redundancy under kinematic inequality constraints. As a result, we have found that COS is drastically affected by the introduction of kinematic inequality constraints. That is, COS under no inequality constraints is known to change only at algorithmic singularity, while COS under kinematic inequality constraints turns out to change at the singular points such as semi-singularity and semi algorithmic singularity as well as algorithmic singularity. In particular, semi algorithmic singularity is a singular point that has not been reported thus far in the inverse kinematics of redundant manipulators. Through simulations with a planar 3-DOF manipulator and a spatial 7-DOF manipulator, we have showed that several redundancy resolution methods have some drawbacks due to the singular points and that the drawbacks can be remedied with the knowledge of COS. Second, this thesis presents an effective and efficient method, named the Enhanced Compact QP Method (ECQPM), for the real-time robust dynamic control of redundant manipulators under physical limits such as joint angle limits and joint torque limits. ECQPM is developed as the result of solving problems found in applying the Compact QP Method (CQPM) to real-time dynamic control, which are: a) joint space tracking errors due to its controller under uncertainties b) Cartesian space tracking errors due to its equality constraints; c) inaccurately shaped control torques due to its joint torque limit constraints; and d) unrealistically high control torques due to its joint angle limit constraints. Through the enhancement with the structure and the performance of robust controller in mind, the improved constraints enable ECQPM not only to overcome the problems above, but also to reduce the computational requirements of the already efficient CQPM. The effectiveness of ECQPM in real-time dynamic control has been verified experimen...
Advisors
Chang, Pyung-Hunresearcher장평훈researcher
Description
한국과학기술원 : 기계공학전공,
Publisher
한국과학기술원
Issue Date
2002
Identifier
177238/325007 / 000935815
Language
eng
Description

학위논문(박사) - 한국과학기술원 : 기계공학전공, 2002.8, [ viii, 209 p. ]

Keywords

Optimization; Dynamic control; Inequality constraints; Redundant manipulator; semi algorithmic singularity; 반 알고리즘적 특이점; 최적화; 동역학 제어; 부등식 구속조건; 여유자유도 머니퓰레이터

URI
http://hdl.handle.net/10203/43140
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=177238&flag=dissertation
Appears in Collection
ME-Theses_Ph.D.(박사논문)
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