Modeling and analysis of a hybrid mechanism with kinematic and force redundancies
- Title
- Modeling and analysis of a hybrid mechanism with kinematic and force redundancies
- Author
- 이병주
- Keywords
- Modeling; Kinematic redundancy; Force redundancy
- Issue Date
- 2007-10
- Publisher
- IEEE
- Citation
- 2007 International Conference on Control, Automation and Systems, Page. 2170-2175
- Abstract
- Redundancy problem in robotics can be classified as kinematic redundancy and force redundancy. However, they have been investigated separately. In light of the human mechanism that has simultaneous kinematic and force redundancies, this paper deals with kinematic and dynamic modeling of a hybrid mechanism that has simultaneous force and kinematic redundancies. Secondly, we proposed a motion generation algorithm that considers both force and kinematic redundancies. Finally, the performance of the proposed algorithm is shown by simulation.
- URI
- https://ieeexplore.ieee.org/document/4406692https://repository.hanyang.ac.kr/handle/20.500.11754/107059
- ISBN
- 978-89-950038-6-2
- DOI
- 10.1109/ICCAS.2007.4406692
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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