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Joint-Limit Avoidance and Kinetic-Energy Minimization in Manipulators Having Surplus Joints

Authors
Lee, Ho-YulYi, Yung-JuChoi, Youngjin
Issue Date
Oct-2008
Publisher
한국물리학회
Keywords
Manipulator with surplus joints; Joint-limit avoidance; Kinetic-energy minimization
Citation
Journal of the Korean Physical Society, v.53, no.4, pp.1910 - 1918
Indexed
SCIE
SCOPUS
KCI
Journal Title
Journal of the Korean Physical Society
Volume
53
Number
4
Start Page
1910
End Page
1918
URI
https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/42171
DOI
10.3938/jkps.53.1910
ISSN
0374-4884
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.
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COLLEGE OF ENGINEERING SCIENCES > DEPARTMENT OF ROBOT ENGINEERING > 1. Journal Articles
COLLEGE OF ENGINEERING SCIENCES > SCHOOL OF ELECTRICAL ENGINEERING > 1. Journal Articles

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Choi, Youngjin
ERICA 공학대학 (DEPARTMENT OF ROBOT ENGINEERING)
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