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영 공간 분해 방법을 이용한 다중 협동로봇의 모빌리티와 가속도 조작성 해석Analysis of acceleration bounds and mobility for multiple robot systems based on null space analysis method
- Other Titles
- Analysis of acceleration bounds and mobility for multiple robot systems based on null space analysis method
- Issue Date
- 1-5월-2006
- Publisher
- 제어자동화시스템공학회
- Keywords
- friction contact; multiple cooperative robotic s; null space analysis method; mobility
- Citation
- 제어자동화시스템공학회논문지, v.12, no.5, pp 497 - 504
- Pages
- 8
- Journal Title
- 제어자동화시스템공학회논문지
- Volume
- 12
- Number
- 5
- Start Page
- 497
- End Page
- 504
- Abstract
- This paper presents a new technique that derives the dynamic acceleration bounds of multiple cooperating robot systems from given individual torque limits of robots. A set of linear algebraic homogeneous equation is derived from the dynamic equations of multiple robots with friction contacts. The mobility of the robot system is analyzed by the decomposition of the null space of the linear algebraic equation. The acceleration bounds of multiple robot systems are obtained from the joint torque constraints of robots by the medium of the decomposed null space. As the joint constraints of the robots are given in the infinite norm sense, the resultant acceleration bounds of the systems are described as polytopes. Several case studies are presented to validate the proposed method in this paper.
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