Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 최영진 | - |
dc.date.accessioned | 2018-12-04T05:21:12Z | - |
dc.date.available | 2018-12-04T05:21:12Z | - |
dc.date.issued | 2008-10 | - |
dc.identifier.citation | JOURNAL OF THE KOREAN PHYSICAL SOCIETY, v. 53, No. 4, Page. 1910-1918 | en_US |
dc.identifier.issn | 0374-4884 | - |
dc.identifier.uri | http://www.jkps.or.kr/journal/view.html?volume=53&number=4&spage=1910&year=2008 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/80720 | - |
dc.description.abstract | Every robot, like the human-body, has its allowable range of joint angle. In order riot to exceed the allowable joint ranges, previous studies proposed ail optimization algorithm, which employed surplus joints of robots to prevent joint-limit violation. However, this algorithm does riot fully utilize the entire motion range of joints because this algorithm controls the joint angle to come close to the middle position of each joint's range. Also, it consumes relatively large kinetic energy. This paper proposes a new motion planning algorithm that prevents joint-limit violation, utilizes a wide motion range of joints and minimizes the kinetic-energy consumption. The feasibility of the proposed algorithm was verified through a simulation study of several example manipulator models having surplus joints. | en_US |
dc.description.sponsorship | This work was partially supported by the research fund of HYU (HYU-2008-T), partially supported by the GRRC program of Gyeonggi province (2008-041-0003-0001), partially supported by the Korea Health 21 R&D program, Ministry of Health and Welfare, Republic of Korea, (A02-0604-AG0304-07A6-00030B) and the outcome of a Manpower Development Program for Energy & Resources supported by the Ministry of Knowledge and Economy (MKE). | en_US |
dc.language.iso | en_US | en_US |
dc.publisher | KOREAN PHYSICAL SOC | en_US |
dc.subject | Manipulator with surplus joints | en_US |
dc.subject | Joint-limit avoidance | en_US |
dc.subject | Kinetic-energy minimization | en_US |
dc.title | Joint-Limit Avoidance and Kinetic-Energy Minimization in Manipulators Having Surplus Joints | en_US |
dc.type | Article | en_US |
dc.identifier.doi | 10.3938/jkps.53.1910 | - |
dc.relation.journal | JOURNAL OF THE KOREAN PHYSICAL SOCIETY | - |
dc.contributor.googleauthor | Lee, Ho-Yul | - |
dc.contributor.googleauthor | Yi, Yung-Ju | - |
dc.contributor.googleauthor | Choi, Youngjin | - |
dc.relation.code | 2008205987 | - |
dc.sector.campus | E | - |
dc.sector.daehak | COLLEGE OF ENGINEERING SCIENCES[E] | - |
dc.sector.department | DIVISION OF ELECTRICAL ENGINEERING | - |
dc.identifier.pid | cyj | - |
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