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dc.contributor.author이병주-
dc.date.accessioned2018-12-06T01:47:07Z-
dc.date.available2018-12-06T01:47:08Z-
dc.date.issued2008-10-
dc.identifier.citationJOURNAL OF THE KOREAN PHYSICAL SOCIETY, v. 53, No. 4, Page. 1910-1918en_US
dc.identifier.issn0374-4884-
dc.identifier.urihttp://www.jkps.or.kr/journal/view.html?volume=53&number=4&spage=1910&year=2008-
dc.identifier.urihttps://repository.hanyang.ac.kr/handle/20.500.11754/80746-
dc.description.abstractEvery 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.sponsorshipThis 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.isoen_USen_US
dc.publisherKOREAN PHYSICAL SOCen_US
dc.subjectManipulator with surplus jointsen_US
dc.subjectJoint-limit avoidanceen_US
dc.subjectKinetic-energy minimizationen_US
dc.titleJoint-Limit Avoidance and Kinetic-Energy Minimization in Manipulators Having Surplus Jointsen_US
dc.typeArticleen_US
dc.identifier.doi10.3938/jkps.53.1910-
dc.relation.journalJOURNAL OF THE KOREAN PHYSICAL SOCIETY-
dc.contributor.googleauthorLee, Ho-Yul-
dc.contributor.googleauthorYi, Yung-Ju-
dc.contributor.googleauthorChoi, Youngjin-
dc.relation.code2008205987-
dc.sector.campusE-
dc.sector.daehakCOLLEGE OF ENGINEERING SCIENCES[E]-
dc.sector.departmentDIVISION OF ELECTRICAL ENGINEERING-
dc.identifier.pidbj-
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COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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