A Mobility Analysis Method of Closed-Chain Mechanisms with Over-constraints and Non-holonomic Constraints
- Title
- A Mobility Analysis Method of Closed-Chain Mechanisms with Over-constraints and Non-holonomic Constraints
- Author
- 이병주
- Keywords
- Fasteners; Motion analysis; Mobile robots; Wheels; Instruments; Computer science; Shape; Kinematics; Concurrent computing; Research and development
- Issue Date
- 2004-04
- Publisher
- IEEE
- Citation
- Proceedings - IEEE International Conference on Robotics and Automation, Page. 2801-2807
- Abstract
- Mobility for a great portion of robot mechanisms
having over-constraint and non-holonomic constraints has not
been clearly identified. This work is to introduce a method of
mobility analysis for such systems using the concept of
representative screws and pseudo-joint. The pseudo-joint is
employed to effectively represent the real motion trajectory due
to the rolling contact of the wheel. To show the validity and
effectiveness of the proposed method, mobility of various types of
planar mobile robots having over-constraint and non-holonomic
constrains are examined.
- URI
- https://ieeexplore.ieee.org/abstract/document/1307485https://repository.hanyang.ac.kr/handle/20.500.11754/139299
- ISBN
- 0-7803-8232-3
- ISSN
- 1050-4729
- DOI
- 10.1109/ROBOT.2004.1307485
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
- Files in This Item:
There are no files associated with this item.
- Export
- RIS (EndNote)
- XLS (Excel)
- XML