Publication

Hanyang University HumanRobotics Lab

Domestic Journal
기구학적 여유도와 ZMP 구속 조건을 이용한 바닥에 고정되지 않은 매니퓰레이터의 동작 계획
Journal
로봇학회논문지
Vol
Vol. 6, No. 4
Page
pp. 308-316
Author
최재연, 윤현수, 이병주
Year
2011
Date
2011.12
File
기구학적 여유도와 ZMP 구속 조건을 이용한 바닥에 고정되지 않은 매니퓰레이터의 동작 계획.pdf (805.0K) 0회 다운로드 DATE : 2020-10-16 22:27:55
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.