Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 서태원 | - |
dc.date.accessioned | 2019-12-08T05:37:54Z | - |
dc.date.available | 2019-12-08T05:37:54Z | - |
dc.date.issued | 2018-05 | - |
dc.identifier.citation | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v. 32, no. 5, page. 2299-2307 | en_US |
dc.identifier.issn | 1738-494X | - |
dc.identifier.issn | 1976-3824 | - |
dc.identifier.uri | https://link.springer.com/article/10.1007%2Fs12206-018-0441-0 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/118840 | - |
dc.description.abstract | Inverse kinematics presents nontrivial problems in serial manipulators as there is no unique, generalized solution that is applicable to various configurations. Till date, limited results exist on skew configurations, while the published problem definitions and solutions are physically nonintuitive. We present a generalized solution for a subproblem of inverse kinematics based on an exponential formula product, in accordance to a geometrically intuitive method. A case study with a six-degree-of-freedom manipulator is presented to verify the effectiveness of the proposed definition and solution. The latter can be adopted to analyze inverse kinematic problems applicable to various serial manipulators. | en_US |
dc.description.sponsorship | This work was supported by the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science and ICT (NRF-2017R1A2B4002123). | en_US |
dc.language.iso | en_US | en_US |
dc.publisher | KOREAN SOC MECHANICAL ENGINEERS | en_US |
dc.subject | Inverse kinematics | en_US |
dc.subject | Paden-Kahan sub-problem | en_US |
dc.subject | Product of exponential | en_US |
dc.subject | Screw theory | en_US |
dc.title | Generalized solution for a sub-problem of inverse kinematics based on product of exponential formula | en_US |
dc.type | Article | en_US |
dc.relation.no | 5 | - |
dc.relation.volume | 32 | - |
dc.identifier.doi | 10.1007/s12206-018-0441-0 | - |
dc.relation.page | 2299-2307 | - |
dc.relation.journal | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | - |
dc.contributor.googleauthor | An, Hee Sung | - |
dc.contributor.googleauthor | Seo, Tae Won | - |
dc.contributor.googleauthor | Lee, Jeh Won | - |
dc.relation.code | 2018004032 | - |
dc.sector.campus | S | - |
dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
dc.sector.department | DIVISION OF MECHANICAL ENGINEERING | - |
dc.identifier.pid | taewonseo | - |
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