비원형 단면 링크에 작용하는유체항력의 모델링과 최적 경로계획

Abstract

In this paper, drag force of robot arm in viscous fluid in modeled and the optimal trajectory planning of non-cylindrical limb with roll joints is handled. When each link of the non-cylindrical limb moves in viscous fluid, the drag force exerted by this fluid depends on both the joint angles, I.e. robot configuration, and the joint velocity of limb. From the modeling of the drag force represented by the joint angles and joint velocity, the optimal trajectory of limbs is planned to the maximize drag force along specific direction. For the modeling of this limb system, Lagrange-Euler equation including drag force term is derived. To optimize trajectory, quintic polynomial, genetic algorithm(GA) and Sequential Quadratic Programming(SQP) algorithm are applied to the derived equation. After will be given in examples three links system is modeled, the corresponding optimal trajectory planning.