External impulse of single and dual-arm sawing tasks via concept of effective mass; modeling and experiments
- Title
- External impulse of single and dual-arm sawing tasks via concept of effective mass; modeling and experiments
- Author
- 이병주
- Keywords
- Robotics and Control Systems; Computing and Processing; Signal Processing and Analysis; Sawing; Effective mass; Manipulators; Manufacturing; Humans; Intelligent robots; Teeth; Robot control; Legged locomotion; Service robots
- Issue Date
- 2004-09
- Publisher
- IEEE
- Citation
- 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- Abstract
- Some of manufacturing tasks such as sawing task
often require continuous impulsive motion. In case of sawing
task, such impulsive motions can be observed between the
teeth of the saw and the object being sawn. The amount of the
external impulse exerted on the object is treated as an
important control parameter in the sawing task.
The purpose of this work is to show the efficacy of sawing
task by using a dual-arm. For this, a new concept of effective
mass is introduced to model the impact phenomenon in the
sawing task. Using this concept, the external impulse model of
sawing tasks is suggested. The optimal sawing region is
identified in which the amount of external impulse is
maximized. It is demonstrated through simulation and
experiment that the dual-arm exhibits better sawing
performance over a single arm in aspects of external impulse.
- URI
- https://information.hanyang.ac.kr/#/eds/detail?an=edseee.1390037&dbId=edseeehttps://repository.hanyang.ac.kr/handle/20.500.11754/151730
- ISBN
- 0-7803-8463-6
- DOI
- 10.1109/IROS.2004.1390037
- 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