Browsing by Author "YOUNG, KY"

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CONTROL OF VOLUNTARY LIMB MOVEMENTS BY USING A FUZZY SYSTEM
(1993)
YOUNG, KY
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FAN, CC
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電控工程研究所
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Institute of Electrical and Control Engineering
Learning control for similar robot motions
(1995)
YOUNG, KY
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SHIAH, SJ
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電控工程研究所
;
Institute of Electrical and Control Engineering
PATH FEASIBILITY AND MODIFICATION
(1992-07-01)
YOUNG, KY
;
WU, CH
;
電控工程研究所
;
Institute of Electrical and Control Engineering
Kinematic feasibility of a planned robot path is restrained by the kinematic constraints of the robot executing the task, such as workspace, configuration, and singularity. Since these kinematic constraints can be described utilizing the geometry of the given robot, corresponding regions within the robot workspace can be expressed in geometrical representation. Consequently, geometric information can be derived from the planned path and the geometric boundaries of these regions. Then, by utilizing the geometric information and proper modification strategies, a Cartesian robot path that is kinematically infeasible can be modified according to different task requirements. To demonstrate the proposed feasibility and modification schemes, simulations for a 6R robot manipulator are executed.
PATH FEASIBILITY AND MODIFICATION BASED ON THE PUMA 560 WORKSPACE ANALYSIS
(1994-03-01)
SHAO, KC
;
YOUNG, KY
;
電控工程研究所
;
Institute of Electrical and Control Engineering
Robot paths are planned according to different industrial tasks. Their kinematic feasibility is restrained by the structure of the given robot manipulator. In order to design feasible paths under kinematic constraints and different task requirements, we propose first to utilize the geometry of the given robot to generate the geometric boundaries of different regions corresponding to kinematic constraints in the robot workspace. Geometric expressions are then derived to describe the relationship about the planned path and the robot workspace. Finally, by applying the developed modification strategies based on different task requirements, feasible paths can be obtained by modifying the infeasible portions of the paths. To demonstrate the proposed feasibility and modification schemes, the PUMA 560 robot manipulator is selected as a case study due to its complexity and practical application. The results are then extended to general wrist-partitioned types of industrial robot manipulators.
PATH FEASIBILITY AND MODIFICATION BASED ON THE PUMA 560 WORKSPACE ANALYSIS
(1994-03-01)
SHAO, KC
;
YOUNG, KY
;
交大名義發表
;
電控工程研究所
;
National Chiao Tung University
Robot paths are planned according to different industrial tasks. Their kinematic feasibility is restrained by the structure of the given robot manipulator. In order to design feasible paths under kinematic constraints and different task requirements, we propose first to utilize the geometry of the given robot to generate the geometric boundaries of different regions corresponding to kinematic constraints in the robot workspace. Geometric expressions are then derived to describe the relationship about the planned path and the robot workspace. Finally, by applying the developed modification strategies based on different task requirements, feasible paths can be obtained by modifying the infeasible portions of the paths. To demonstrate the proposed feasibility and modification schemes, the PUMA 560 robot manipulator is selected as a case study due to its complexity and practical application. The results are then extended to general wrist-partitioned types of industrial robot manipulators.
PATH PLANNING IN THE PRESENCE OF OBSTACLES BASED TASK REQUIREMENTS
(1994-12-01)
WU, TH
;
YOUNG, KY
;
電控工程研究所
;
Institute of Electrical and Control Engineering
We propose a novel and efficient scheme for planning a kinematically feasible path in the presence of obstacles according to task requirements. By employing geometrical analysis, we derive expressions to describe the relationship between the planned path, kinematic constraints, and obstacles in the robot workspace. The freedom available according to task requirements is then utilized to modify the infeasible portions of the planned path. We use a 6R (revolute) wrist-partitioned type of robot manipulator and a spherical obstacle as a case study to demonstrate the proposed scheme. We then extend our results to general wrist-partitioned types of robot manipulators and arbitrarily-shaped or multiple obstacles. (C) 1994 John Wiley & Sons, Inc.