다중-유닛 연속체 로봇 컨트롤을 위한 마스터 디바이스의 정기구학 해
- Title
- 다중-유닛 연속체 로봇 컨트롤을 위한 마스터 디바이스의 정기구학 해
- Other Titles
- Forward Kinematic Solution of a Master Device for controlling Multi-unit Continuum Robots
- Author
- 이병주
- Keywords
- Continuum Robot; Forward Kinematics; Master Device
- Issue Date
- 2010-05
- Publisher
- 제어로봇시스템학회
- Citation
- ICROS Annual Conference 2010, Page. 360-364
- Abstract
- This work presents a master device for multi-unit continuum robots. Each continuum unit of the device is similar to parallel kinematic mechanism that has a unique forward kinematic solution. Thus, it can be used as a master device to control its slave robot. The forward kinematic solution of a 4-DOF continuum robot consisting of two continuum units and design of this device is presented. This design is slim-sized, light-weighted, and easy to implement. Two unit modules are assembled to generate 4 DOF. The derived kinematic solution is verified through a simulation.
- URI
- https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE02040469https://repository.hanyang.ac.kr/handle/20.500.11754/181089
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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