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원격수중로봇(ROV) 장착 매니퓰레이터의 조작도 해석과 작업지향적 자세에의 응용

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dc.contributor.author전봉환-
dc.contributor.author이판묵-
dc.contributor.author이지홍-
dc.date.accessioned2021-12-09T00:40:27Z-
dc.date.available2021-12-09T00:40:27Z-
dc.date.issued20041109-
dc.identifier.urihttps://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/7043-
dc.description.abstractThis paper describes task-oriented manipulability of tele-operated robotic arms mounted on remotely operated vehicle (ROV) and its application to task-oriented joint configurations. Main purpose of the study is to reduce tele-operator’s burden in performing underwater tasks by enhancing the functionality of manipulator. Even though a manipulator has 6 degrees-of-freedom (DOF), which is proper DOF to work in Cartesian workspace, the manipulator might have redundancy according to task types and order of task-priority. This paper focuses on the problem to utilize the redundancy by introducing a scalar function as an object of optimization. The scalar function is composed of task-oriented manipulability measure (TOMM) and joint limit measure (JLM). Using sequential quadratic programming (SQP) with the object function, we obtained optimal postures of manipulator for a given position constraint of end-effecter. Adopting the scalar function as a performance index, we solve a redundancy resolution problem based on pseudo inverse of task-oriented Jacobian matrix.-
dc.language영어-
dc.language.isoENG-
dc.title원격수중로봇(ROV) 장착 매니퓰레이터의 조작도 해석과 작업지향적 자세에의 응용-
dc.title.alternativeManipulability Analysis of Underwater Robotic Arms on ROV and Application to Task-Oriented Joint Configuration-
dc.typeConference-
dc.citation.titleProceeding of TECHNO-OOCEAN\\\\-
dc.citation.volume1-
dc.citation.number1-
dc.citation.startPage1-
dc.citation.endPage6-
dc.citation.conferenceNameProceeding of TECHNO-OOCEAN\\\\-
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