南開科技大學圖書館 |

Language: English

Help

南開科技大學

圖書館首頁

編目中圖書申請

Back

Switch To: Labeled | MARC Mode | ISBD

Dynamics and motion planning of redu...

Kim, Joo Hyun.

Dynamics and motion planning of redundant manipulators using optimization, with applications to human motion.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Dynamics and motion planning of redundant manipulators using optimization, with applications to human motion./
Author:	Kim, Joo Hyun.
Description:	222 p.
Notes:	Source: Dissertation Abstracts International, Volume: 67-08, Section: B, page: 4665.
Contained By:	Dissertation Abstracts International67-08B.
Subject:	Engineering, Mechanical. -
Online resource:	Download PDF (下載PDF全文)
ISBN:	9780542833298

Dynamics and motion planning of redundant manipulators using optimization, with applications to human motion.
Kim, Joo Hyun.

Dynamics and motion planning of redundant manipulators using optimization, with applications to human motion. - 222 p.

Source: Dissertation Abstracts International, Volume: 67-08, Section: B, page: 4665.

Thesis (Ph.D.)--The University of Iowa, 2006.

Robotic manipulators with kinematic redundancy provide increased flexibility, dexterity, and functionality. However, this redundancy allows the existence of an infinite number of configurations that satisfy a set of task requirements. The motion generation of redundant manipulators is thus a problem of optimization, where the best configuration is chosen from multiple feasible solutions. Although this general problem has been investigated in the current literature, methods for incorporating external loads have not been extensively addressed. To implement general external loads applied to a manipulator, equations of motion are derived using Lagrangian dynamics. Energy consumption is then minimized subject to constraints that model a given task and design. This dissertation proposes a method that, under external load conditions, generates efficient and effective optimum motion to perform a given task, along with the required actuator torque profiles and consumed energy.

ISBN: 9780542833298Subjects--Topical Terms:

170925
Engineering, Mechanical.

Dynamics and motion planning of redundant manipulators using optimization, with applications to human motion.
LDR:03420nmm 2200301 4500 001 1000004916
005 20070601084732.5
008 070601s2006 eng d
020 $a 9780542833298
035 $a (UnM)AAI3229673
035 $a AAI3229673
040 $a UnM $c UnM{me_controlnum}
100 1 $a Kim, Joo Hyun. $3 1000006070
245 1 0 $a Dynamics and motion planning of redundant manipulators using optimization, with applications to human motion.
300 $a 222 p.
500 $a Source: Dissertation Abstracts International, Volume: 67-08, Section: B, page: 4665.
500 $a Adviser: Karim Abdel-Malek.
502 $a Thesis (Ph.D.)--The University of Iowa, 2006.
520 $a Robotic manipulators with kinematic redundancy provide increased flexibility, dexterity, and functionality. However, this redundancy allows the existence of an infinite number of configurations that satisfy a set of task requirements. The motion generation of redundant manipulators is thus a problem of optimization, where the best configuration is chosen from multiple feasible solutions. Although this general problem has been investigated in the current literature, methods for incorporating external loads have not been extensively addressed. To implement general external loads applied to a manipulator, equations of motion are derived using Lagrangian dynamics. Energy consumption is then minimized subject to constraints that model a given task and design. This dissertation proposes a method that, under external load conditions, generates efficient and effective optimum motion to perform a given task, along with the required actuator torque profiles and consumed energy.
520 $a This proposed optimization methodology can also be used to generate human motions because the human body is a typical example of redundant systems. The problem of motion planning for redundant manipulators is then transformed into the problem of physics-based dynamic human motion prediction. The metabolic energy expenditure, derived with respect to joint space, is used as the cost function for optimization. Using a digital human model represented by the Denavit-Hartenberg (DH) method, realistic motions are predicted for various tasks in which the human generates different motions according to different external loads. This new feature greatly enhances the capabilities of digital human technology, which is currently limited to kinematic or experiment-based simulations.
520 $a Finally, the optimization problem is extended to yield a new method for solving differential-algebraic equations (DAEs). The unknown constraint loads from external and internal sources, as well as the motion and required actuator torques, are determined for a given task. In particular, the method of fictitious joints is introduced to solve for the internal joint constraint forces and moments of a redundant manipulator described in DH representation. The results show optimum external constraint loads and accurate calculation of internal joint constraint loads. The proposed optimization formulation is equivalent to solving DAEs without integration.
590 $a School code: 0096.
650 4 $a Engineering, Mechanical. $3 170925
650 4 $a Engineering, Robotics. $3 1000006058
690 $a 0548
690 $a 0771
710 2 0 $a The University of Iowa. $3 1000005430
773 0 $t Dissertation Abstracts International $g 67-08B.
790 1 0 $a Abdel-Malek, Karim, $e advisor
790 $a 0096
791 $a Ph.D.
792 $a 2006
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3229673 $z Download PDF (下載PDF全文)