The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Motion Planning of Manipulators Using Kinematic Redundancy and ZMP Constraint Condition

기구학적 여유도와 ZMP 구속 조건을 이용한 매니퓰레이터의 동작 계획

  • 최재연 (한양대학교 전자전기제어계측공학과) ;
  • 윤현수 (한양대학교 전자전기제어계측공학과) ;
  • 이병주 (한양대학교 전자시스템공학과)
  • Received : 2011.06.08
  • Accepted : 2011.09.08
  • Published : 2011.11.30
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Abstract

This work deals with development of effective redundancy resolution algorithms for the motion control of manipulator. Differently from the typical kinematically redundant robots that are attached to the fixed ground, the ZMP condition should be taken into account in the manipulator motion in order to guarantee the system stability. In this paper, a new motion planning algorithm for redundant manipulator not fixed to the ground is introduced. A sequential redundancy resolution algorithm is proposed, which ensures the ZMP (Zero Moment Point) stability, the planned operational motion, and additional sub-criteria such as joint limit index. A geometric constraint equation derived by reshaping the existing ZMP equation enables one to employ the sequential redundancy algorithm. The feasibility of the proposed algorithm is verified by simulating a redundant manipulator model.

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References

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