Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 이병주 | - |
dc.date.accessioned | 2019-07-03T06:23:40Z | - |
dc.date.available | 2019-07-03T06:23:40Z | - |
dc.date.issued | 2007-10 | - |
dc.identifier.citation | 2007 International Conference on Control, Automation and Systems, Page. 2170-2175 | en_US |
dc.identifier.isbn | 978-89-950038-6-2 | - |
dc.identifier.uri | https://ieeexplore.ieee.org/document/4406692 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/107059 | - |
dc.description.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. | en_US |
dc.description.sponsorship | This work was supported by a grant (R01–2007–000-0000–2607) of Korea Science and Engineering Foundation, Republic of Korea. | en_US |
dc.language.iso | en_US | en_US |
dc.publisher | IEEE | en_US |
dc.subject | Modeling | en_US |
dc.subject | Kinematic redundancy | en_US |
dc.subject | Force redundancy | en_US |
dc.title | Modeling and analysis of a hybrid mechanism with kinematic and force redundancies | en_US |
dc.type | Article | en_US |
dc.identifier.doi | 10.1109/ICCAS.2007.4406692 | - |
dc.contributor.googleauthor | Chung, J.H. | - |
dc.contributor.googleauthor | Yi, B.-J. | - |
dc.contributor.googleauthor | Kim, W.K. | - |
dc.sector.campus | E | - |
dc.sector.daehak | COLLEGE OF ENGINEERING SCIENCES[E] | - |
dc.sector.department | DIVISION OF ELECTRICAL ENGINEERING | - |
dc.identifier.pid | bj | - |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.