여유자유도를 갖는 로봇팔의 장애물 우회 알고리즘 개발

Abstract

본 논문에서는 로봇팔이 임의의 시작위치에서 목표위치까지 움직일 때 돌발적으로 발생하는 장애물을 퍼지제어를 이용하여 장애물을 실시간적으로 우회할 수 있는 운동제어 알고리즘을 개발하였다. 로봇팔의 이동중에 장애물이 존재하지 않으면 로봇팔의 끝점은 미리 규정된 경로를 따라 움직이며, 만약에 장애물이 일정 영역내에서 감지되?? 퍼지제어기가 작동하여 규정된 경로를 이탈하여 충돌을 방지하면서 목표점까지 새로운 경로를 발생하게 된다. 본 논문에서는 개발된 알고리즘의 유용성을 입증하기 위하여 여유자유도로봇과 비여유자유도로봇에 개발된 알고리즘을 적용하여 전산모의실험을 하였다.

In this paper, a motion control algorithm is developed by using fuzzy control technique, which makes a robot arm avoid unexpected obstacles when the robot is moving from the start to goal posture. During the motion, if there exists no obstacles the robot arm moves along the pre-defined path. But if some obstacles are recognized and close to the robot arm, fuzzy controller is activated to adjust the path of the robot arm. To show the feasibility of the developed algorithm, a simulation is carried out. In the simulation, non-redundant and redundant planar robot arms are considered for the collision avoidance test, and it was proved that the developed algorithm gives good collision-avoiding performance both the stationary obstacles and moving obstacles.

In this paper, a motion control algorithm is developed by using fuzzy control technique, which makes a robot arm avoid unexpected obstacles when the robot is moving from the start to goal posture. During the motion, if there exists no obstacles the robot arm moves along the pre-defined path. But if some obstacles are recognized and close to the robot arm, fuzzy controller is activated to adjust the path of the robot arm. To show the feasibility of the developed algorithm, a simulation is carried out. In the simulation, non-redundant and redundant planar robot arms are considered for the collision avoidance test, and it was proved that the developed algorithm gives good collision-avoiding performance both the stationary obstacles and moving obstacles.