Journal of Power System Engineering (동력기계공학회지)

The Korean Society for Power System Engineering (한국동력기계공학회)
권호 표지
DOI QR코드

DOI QR Code

Redundancy resolution method of omni-directional mobile manipulator system

전방향 이동 머니퓰레이터 시스템의 여유자유도 최적화 방법

  • 권순재 (부경대학교 기계자동차공학부) ;
  • 정재웅 (씨엠케이 기업부설연구소)
  • Received : 2015.04.20
  • Accepted : 2015.06.10
  • Published : 2015.06.30
Download PDF
⟨ Previous Next ⟩

Abstract

Typically, robot system configured by articulated robot manipulator with 1 DOF transfer unit is being applied in automotive manufacturing automation process. Especially, 1 DOF transfer unit is necessary to extend workspace of robot manipulator. In this configuration, because transfer unit works only one direction, robot manipulator only works in one side in case of car body painting or sealing automation process. it is necessary three robot manipulator system at least. In this paper, in order to robot manipulator works effectively in car body sealing automation application, we are suggested omni-directional manipulator system and conducted studying on redundancy resolution method to solve manipulability-optimal problem.

Keywords

References

  1. K. J. Choi and S. H. Dea, 2008, "Optimization of Whole Body Cooperative Posture for an 18-DOF Humanoid Robot Using a Genetic Algorithm", Journal of Institute of Control Robotics and Systems, Vol. 14, No. 10, pp. 1029-1037 https://doi.org/10.5302/J.ICROS.2008.14.10.1029
  2. J. H. Lee, J. Y. Kim, J. H. Lee, D. H. Kim, H. K. Lim and S. H. Ryu, 2012, "Inverse Kinematics Solution and Optimal Motion Planning for I ndustrial Robots with Redundancy", Journal of Robotics Society", Vol 7, No. 1, pp. 35-44. https://doi.org/10.7746/jkros.2012.7.1.035
  3. K. S. Fu, 1987, Robotics, McGraw-Hill.
  4. Y. Nakamura, 1991, Advanced robotics: redundancy and optimization, Addison-Wesley.
  5. K. J. Park and J. Kang, 2001, "Path Design of Redundant Flexible Robot Manipulators to Reduce Residual Vibration in the Presence of Obstacles", Journal of the Korean Society for Power System Engineering, Vol 5, pp. 79-86.