241 0

Full metadata record

DC FieldValueLanguage
dc.contributor.author신규식-
dc.date.accessioned2018-02-08T07:46:04Z-
dc.date.available2018-02-08T07:46:04Z-
dc.date.issued2015-05-
dc.identifier.citationINTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, v. 16, No. 5, Page. 911-917en_US
dc.identifier.issn2234-7593-
dc.identifier.issn2005-4602-
dc.identifier.urihttps://link.springer.com/article/10.1007/s12541-015-0119-9-
dc.identifier.urihttp://hdl.handle.net/20.500.11754/36309-
dc.description.abstractWe propose to use Lagrange interpolation method to express each joint trajectory function to realize trajectory planning for energy minimization of industrial robotic manipulators. We give the position constraints to the industrial robotic manipulators and the stability of the industrial robotic manipulators should be satisfied. In order to avoid Runge's phenomenon of Lagrange interpolation method, we use the Chebyshev interpolation points for our approach. Through derivation, the angular velocity functions and angular acceleration functions can be obtained. Lagrange interpolation method can satisfy position constraints, and ensure the smoothness of joint angular positions, velocities, accelerations, and joint torques. By taking these functions into the Performance Index (PI) of energy minimization, as well as the direct iteration method used for optimization of energy consumption, we can obtain the optimal trajectory for industrial robotic manipulators.en_US
dc.description.sponsorshipThis work was supported by the research fund of Hanyang University (HY-2011-P).en_US
dc.language.isoen_USen_US
dc.publisherKOREAN SOC PRECISION ENGen_US
dc.subjectEnergy minimizationen_US
dc.subjectTrajectory planningen_US
dc.subjectIndustrial robotic manipulatorsen_US
dc.subjectLagrange interpolation methoden_US
dc.subjectPerformance Index (PI)en_US
dc.subjectIterative methoden_US
dc.subjectOPTIMIZATIONen_US
dc.titleTrajectory planning for energy minimization of industry robotic manipulators using the Lagrange interpolation methoden_US
dc.typeArticleen_US
dc.relation.no5-
dc.relation.volume16-
dc.identifier.doi10.1007/s12541-015-0119-9-
dc.relation.page911-917-
dc.relation.journalINTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING-
dc.contributor.googleauthorLuo, LP-
dc.contributor.googleauthorYuan, C-
dc.contributor.googleauthorYan, RJ-
dc.contributor.googleauthorYuan, Q-
dc.contributor.googleauthorWu, J-
dc.contributor.googleauthorShin, KS-
dc.contributor.googleauthorHan, CS-
dc.relation.code2015005980-
dc.sector.campusE-
dc.sector.daehakCOLLEGE OF ENGINEERING SCIENCES[E]-
dc.sector.departmentDEPARTMENT OF ROBOT ENGINEERING-
dc.identifier.pidnorwalk87-
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE