Robot Control near Singularity and Joint Limit Using Continuous Task Transition Algorithm

학위논문 (석사)-- 서울대학교 융합과학기술대학원 : 지능형융합시스템학과, 2013. 2. 박재흥.As intelligent robots are being developed, the robots are expected to execute many kinds of tasks safely in a human environment so that people interact with the robots without any concerns. However, when robots are controlled in the task space, singularities and joint limits are among the most critical and difficult issues that can arise. In this paper, a new approach for the robots is proposed to operate in regions in which singularities and joint limits can arise. The proposed approach utilizes a continuous task transition algorithm. In these cases, new tasks are defined for dealing with singularities and joint limits, and the tasks are activated or deactivated using a continuous task transition algorithm to guarantee the continuous execution of the tasks during the execution of the main task. The proposed approach is implemented on a 6-DOF manipulator called Roman-MD. The performance of the approach is demonstrated in experiments.Abstract Table of Contents List of Figures I. Introduction II. Continuous task transition approach 2.1 Hierarchical control structure 2.2 Task transition approach for both prioritized tasks and nonprioritized tasks III. Stability during a transition IV. Singularity avoidance 4.1 Singularity analysis 4.2 Task control with singularity V. Joint limit avoidance 5.1 Joint limit avoidance task 5.2 Task control with joint limit 5.3 Task control with joint limit and singularity VI. Experimental results 6.1 Handling singularity 6.2 Joint limit avoidance task 6.3 Joint limit and singularity avoidanceMaste