점성유체 속에서 움직이는 로봇팔의 동적 조작도 해석

Abstract

This paper presents a dynamic manipulability analysis method of the limb moving in viscous fluid. The key idea of the presented method is that the boundary of joint velocity can be converted to the velocity-dependant dynamic manipulability polytope through the coriolis, centrifugal and drag terms in dynamic equation. The velocity-dependant dynamic manipulability polytope is added to the inertial and restoring force manipulability polytope to get overall manipulability polytope of the limb moving in the fluid. Each of the torque and velocity bounds are considered in the infinite norm sense in joint space, and the drag force of a limb moving in fluid viscous is modeled as a quadratic form. An analysis example with proposed analysis scheme is presented to validate the method.