V1

1
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2
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• ?????
• ??????
• ???????????

V
Trapezoid
V1
t
t1
3
?????? ?????? ????

• ????? ????? ????????? (??? ?????? ????? ?????)
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  ?????? ?????????.
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  ?? ????? ?????????.

4
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• ???? ????? ????? ??? 3 ????? ???? ????. ?????? ??
  ?????? (0,0,0) ?????? (100,200,300). ????? ??
  ???? ??? 100 ??/????2. ?????? ?? ???? 100
  ??/????. ?? ???? ?? ??? ?????? ????? ??? ??????
  ?????? ?? ?? ????.

5
Example
6
Solution

• Our example

Number of equation 2
Unknown variables 3
7
Redundancy

• System DOF gt End Effector DOF

8
Redundancy

• A redundant system has infinite number of
  solutions
• Human skeleton has 70 DOF
• Ultra-super redundant
• How to solve highly redundant system?
• Multiple choices for one goal
• We can exploit redundancy

9
Redundancy

• Additional objective
• Minimal Change
• Similarity to Given Example
• Naturalness
• Based on observation of natural human posture
• Neurophysiological experiments

10
Robot Motion Planning

• Path planning
• Geometric path
• Issues obstacle avoidance, shortest path
• Trajectory planning,
• interpolate or approximate the desired path
  by a class of polynomial functions and generates
  a sequence of time-based control set points for
  the control of manipulator from the initial
  configuration to its destination.

11
Trajectory Planning
12
Trajectory planning

• Path Profile
• Velocity Profile
• Acceleration Profile

13
The boundary conditions

• Initial position, velocity, acceleration
• Continuity in position ,in velocity, in
  acceleration
• Final position, velocity, acceleration

14
Economic Consideration of Robotic System

• Plan and Equipment
• Operation and Maintenance
• Product
• Parameters of Analysis

15
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17
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18
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• ???? 3 ???? ??? ?????? ?? ??????

19
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• ???? ????? ?? ????? ??????. ?????? ???? ??????
  ?????? ?? ??? ??????. ????? ?????? ??? ??????
  ??????.

20
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21
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22
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