제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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- Pages.77-82
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- 1996
Failure recoverability by exploiting kinematic redundancy
- Park, Jonghoon (Graduate Dept. of Mech. Eng., POSTECH) ;
- Chung, Wan-Kyun (School of Mech. Eng., POSTECH and ARC) ;
- Youm, Youngil (School of Mech. Eng., POSTECH)
- 발행 : 1996.10.01
초록
This paper is concerned with how to utilize kinematic redundancy to reconstruct the inverse kinematic solution which is not attainable due to hardware limitations. By analyzing the error due to hardware limitations, we are to show that the recoverability of limitation reduces to the solvability of a reconstruction equation under the feasibility condition. It will be next shown that the reconstruction equation is solvable if the configuration is not a joint-limit singularity. The reconstruction method will be proposed based on the geometrical analysis of recoverability of hardware limitations. The method has the feature that no task motion error is induced by the hardware limitations while minimizing a possible null motion error, under the recoverability assumed.
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