여유 자유도를 갖는 3축 평면 로봇의 작업 전환을 이용한 장애물 회피에 관한 연구

Abstract

An algorithm for 3R planar robot to avoid unexpected obstacles is proposed. The algorithm is based on the conventional subtask controller that can avoid obstacles only in self-motion. In the case that the controller cannot avoid obstacles in self-motion, the tracking main-task control and the obstacle avoiding sub-task control are contrary each other and both are canceled out. This problem makes the robot stuck. In this situation, the proposed algorithm makes the controller to stop tracking and avoid the obstacles in top priority. The avoiding motion is controlled in joint angle space with freely drifting endeffector. After the avoiding obstacles, the controller goes back to tracking. This task switching depends on subtask function value.