여유자유도를 가진 매니퓰레이터의 작업 공간상에서 접촉 힘과 운동 통합 제어

Abstract

The end-effector equations of motion in operational space are a fundamental tool for the analysis ,control, and dynamic characterization of manipulator systems. The end-effector equations of motion are expressed by use of the relationships between its operational positions, velocities, accelerations, and the virtual operational forces acting on it. In This paper, the unified control of manipulator robot's end-effector contact force and motion is presented. For general tasks that involve end-effector motion and contact forces, the motion directions or force directions are selected depending on generalized task specification matrices which can be constant, configuration-varying, or time-varying. The end-effector equations of motion for a redundant manipulator are also established and its behavior with respect to generalized joint forces is explained. The problem of singularities and obstacle avoidance is dealed based on operational space framework. Simulations are performed on industrial manipulator robot JS-10 which manufactured by KAWASAKI, with realtime dynamics simulator SIMSTUDIO. For simulations, virtual environment and full solid model of JS-10 are created by use of 3d Max and CATIA v5. All of preparatory equations are computed with Robotics Toolbox in MATLAB. The robot control algorithm are coded by C+