Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1993.07a
- /
- Pages.395-398
- /
- 1993
A Study on optimal trajectory planning for a dual arm robot
양팔 로보트의 최적궤적 계획에 관한 연구
- Park, Man-Sik (Dept. of Electrical Eng., Yeungnam Univ.) ;
-
Kim, Jong-Hyun
(Korea Heavy Industry Co.)
;
- Kim, Jong-Sam (Dept. of Electrical Eng., Yeungnam Univ.) ;
-
Lee, Suck-Gyu
(Dept. of Electrical Eng., Yeungnam Univ.)
;
- Bae, Jin-Ho (Dept. of Electrical Eng., Yeungnam Univ.)
- Published : 1993.07.18
Abstract
This paper proposes an algorithm to find an optimal trajectory for unspecified paths of the tips of two arms of a dual arm robot. The effective handling a specified object of a dual arm robot closely depends on the effective collision avoidance between parts of robot and the object. For time optimal trajectory without collision, a graphical method is applied for a robot with two degree of freedom. The effectiveness of the proposed method is demonstrated by some simulation results.
Keywords