This paper is concerned with finding the global optimal solutions for the redundancy optimization problems in series-parallel systems related with system safety. This study transforms the difficult problem, which is classified as a nonlinear integer problem, into a 0/1 IP(Integer Programming) by using binary integer variables. And the global optimal solution to this problem can be easily obtained by applying GAMS (General Algebraic Modeling System) to the transformed 0/1 IP. From computational results, we notice that GA(Genetic Algorithm) to this problem, which is, to our knowledge, known as a best algorithm, is poor in many cases.

This study is concerned with developing a heuristic algorithm for solving a class of ninlinear integer programs(NLIP). Exact algrithm for solving a NLIP either may not exist, or may take an unrealistically large amount of computing time. This study develops a new heuristic, the Excursion Algorithm(EA), for solving a class of NLIP's. It turns out that excursions over a bounded feasible and/or infeasible region is effective in alleviation the risks of being trapped at a lical optimum. The developed EA is applied to the redundancy optimization problems for improving the system safety, and is compared with other existing heuristic methods. We also include simulated annealing(SA) method in the comparision experiment due to ist populatrity for solving complex combinatorial problems. Computational results indicate that the proposed EA performs consistently better than the other in terms of solution quality, with moderate increase in computing time. Therefore, the proposed EA is believed to be an attractive alternative to other heuristic methods.

The versatility of a human hand is what the researchers eager to mimic. As one of the attempt, the redundant degree of freedom in the human hand is considered. However, in the force domain the redundant joint causes a control issue. To solve this problem, the force control method for a redundant robotic hand which is similar to the human is proposed. First, the redundancy of the human hand is analyzed. Then, to resolve the redundancy in force domain, the artificial minimum energy point is specified and the restoring force is used to control the configuration of the finger other than the force in a null space. Finally, the method is verified experimentally with a commercial robot hand, called Allegro Hand with a force/torque sensor.

This paper presents a method to optimize motion planning for industrial manipulators with redundancy. For optimal motion planning, first of all, particular inverse kinematic solution is needed to improve efficiency for manipulators with redundancy working in various environments. In this paper, we propose three kinds of methods for solving inverse kinematics problems; numerical and combined approach. Also, we introduce methods for optimal motion planning using potential function considering the order of priority. For efficient movement in industrial settings, this paper presents methods to plan motions by considering colliding obstacles, joint limits, and interference between whole arms. To confirm improved performance of robot applying the proposed algorithms, we use two kinds of robots with redundancy. One is a single arm robot with 7DOF and another is a dual arm robot with 15DOF which consists of left arm, right arm with each 7DOF, and a torso part with 1DOF. The proposed algorithms are verified through several numerical examples as well as by real implementation in robot controllers.

초기치에서 발생되어지는 비트의 소비를 저주파영역에서의 부호화하는 과정을 없애고, 각 대역별 임계값을 통해, 비 트정렬시 LIS에서 발생되어 질 수 있는 비트 소비를 줄일 수 있었다. 그리고 마지막 단계로 허프만 코딩을 적용하여 압축효율을 향상시켰다. 실험 결과를 통해, 특히 낮은 비트율에 대해서 비트율의 향상을 가져오게 되어 전송시에 있어 서 더욱 점진적이고 프로그레시브한 전송을 가능하게 되었다.

This work deals with development of effective redundancy resolution algorithms for the motion control of manipulator. Differently from the typical kinematically redundant robots that are attached to the fixed ground, the ZMP condition should be taken into account in the manipulator motion in order to guarantee the system stability. In this paper, a new motion planning algorithm for redundant manipulator not fixed to the ground is introduced. A sequential redundancy resolution algorithm is proposed, which ensures the ZMP (Zero Moment Point) stability, the planned operational motion, and additional sub‐criteria such as joint limit index. A geometric constraint equation derived by reshaping the existing ZMP equation enables one to employ the sequential redundancy algorithm. The feasibility of the proposed algorithm is verified by simulating a redundant manipulator model.

Most omni-directional mobile robots have to change their trajectory for avoiding obstacles regardless of the size of the obstacles. However, an omni-directional mobile robot having kinematic redundancy can maintain the trajectory while the robot avoids small obstacles. This works deals with the kinematic modeling and motion planning of an omni-directional mobile robot with kinematic redundancy. This robot consists of three wheel mechanisms. Each wheel mechanism is modeled as having four joints, while only three joints are necessary for creating the omni-directional motion. Thus, each chain has one kinematic redundancy. Two types of wheel mechanisms are compared and its kinematic modeling is introduced. Finally, several motion planning algorithms using the kinematic redundancy are investigated. The usefulness of this robot is shown through experiment.