Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 이병주 | - |
dc.date.accessioned | 2021-01-08T04:52:04Z | - |
dc.date.available | 2021-01-08T04:52:04Z | - |
dc.date.issued | 2002-03 | - |
dc.identifier.citation | 제어로봇시스템학회 논문지, v. 8, no. 3, page. 233-242 | en_US |
dc.identifier.issn | 1976-5622 | - |
dc.identifier.issn | 2233-4335 | - |
dc.identifier.uri | http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE01968541 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/156781 | - |
dc.description.abstract | A kinematic modeling method is proposed which models the sliding and skidding at the wheels as pseudo joints and utilizes those pseudo joint variables as augmented variables. Kinematic models of various type of wheels are derived based on this modeling method. Then, the transfer method of augmented generalized coordinates is applied to obtain inverse and forward kinematic models of mobile robots. The kinematic models of five different types of planar mobile robots are derived to show the effectiveness of the proposed modeling method. | en_US |
dc.language.iso | ko_KR | en_US |
dc.publisher | 제어로봇시스템학회 | en_US |
dc.subject | kinematics | en_US |
dc.subject | modeling method | en_US |
dc.subject | augmented variable | en_US |
dc.subject | mobile robot | en_US |
dc.subject | sliding | en_US |
dc.subject | skidding | en_US |
dc.title | 확장된 좌표계 전환기법에 의한 모바일 로봇의 기구학 모델링 | en_US |
dc.title.alternative | Kinematic Modeling of Mobile Robots by Transfer Method of Augmented Generalized Coordinates | en_US |
dc.type | Article | en_US |
dc.relation.journal | 제어·자동화·시스템공학논문지 | - |
dc.contributor.googleauthor | 김희국 | - |
dc.contributor.googleauthor | 김도형 | - |
dc.contributor.googleauthor | 이병주 | - |
dc.relation.code | 2012210710 | - |
dc.sector.campus | E | - |
dc.sector.daehak | COLLEGE OF ENGINEERING SCIENCES[E] | - |
dc.sector.department | DIVISION OF ELECTRICAL ENGINEERING | - |
dc.identifier.pid | bj | - |
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