Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 최영진 | - |
dc.date.accessioned | 2023-05-19T04:45:51Z | - |
dc.date.available | 2023-05-19T04:45:51Z | - |
dc.date.issued | 2014-10 | - |
dc.identifier.citation | International Journal of Control, Automation, and Systems, v. 12, NO. 5, Page. 1102-1109 | - |
dc.identifier.issn | 1598-6446;2005-4092 | - |
dc.identifier.uri | https://link.springer.com/article/10.1007/s12555-013-0102-0 | en_US |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/180881 | - |
dc.description.abstract | This paper presents a scaled Jacobian transpose based control method for robotic manipulators as a modification of a conventional Jacobian transpose based method. The proposed method has several advantages such as it shows faster convergence and better tracking performance than the conventional method, furthermore, it does not have any singularity problem similar to the conventional method. The scaled Jacobian transpose is obtained by collecting each pseudoinverse of the column vector of the Jacobian matrix. The proposed method performs a given task well under singular configurations while minimizing the task error. Finally, a few comparative studies with the conventional method are provided to show the effectiveness of the proposed method through simulations. | - |
dc.description.sponsorship | This work was supported in part by the Global Frontier R&D Program on "Human-centered Interaction for Coexistence" funded by the National Research Foundation of Korea grant funded by the Korean Government (MSIP) (NRF-2012M3A6A3057080), in part by the National Research Foundation (NRF-2013R1A1A 2010192), and in part by the BK21 Plus Program (Future-oriented innovative brain raising type, 22A20130012806) funded by the Ministry of Education (MOE, Korea) and National Research Foundation of Korea (NRF), Korea. | - |
dc.language | en | - |
dc.publisher | 제어·로봇·시스템학회 | - |
dc.subject | Jacobian | - |
dc.subject | robotic manipulator | - |
dc.subject | singularity | - |
dc.title | Scaled Jacobian Transpose based Control for Robotic Manipulators | - |
dc.type | Article | - |
dc.relation.no | 5 | - |
dc.relation.volume | 12 | - |
dc.identifier.doi | 10.1007/s12555-013-0102-0 | - |
dc.relation.page | 1102-1109 | - |
dc.relation.journal | International Journal of Control, Automation, and Systems | - |
dc.contributor.googleauthor | Lee, An Yong | - |
dc.contributor.googleauthor | Yim, Jongguk | - |
dc.contributor.googleauthor | Choi, Youngjin | - |
dc.sector.campus | E | - |
dc.sector.daehak | 공학대학 | - |
dc.sector.department | 로봇공학과 | - |
dc.identifier.pid | cyj | - |
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