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Modeling and analysis of a hybrid mechanism with kinematic and force redundancies
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| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Chung, Jae heon | - |
| dc.contributor.author | Yi, Byung ju | - |
| dc.contributor.author | Kim, Whee kuk | - |
| dc.date.accessioned | 2021-06-23T20:41:40Z | - |
| dc.date.available | 2021-06-23T20:41:40Z | - |
| dc.date.issued | 2007-10 | - |
| dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/44275 | - |
| dc.description.abstract | Redundancy problem in robotics can be classified as kinematic redundancy and force redundancy. However, they have been investigated separately. In light of the human mechanism that has simultaneous kinematic and force redundancies, this paper deals with kinematic and dynamic modeling of a hybrid mechanism that has simultaneous force and kinematic redundancies. Secondly, we proposed a motion generation algorithm that considers both force and kinematic redundancies. Finally, the performance of the proposed algorithm is shown by simulation. © ICROS. | - |
| dc.format.extent | 6 | - |
| dc.language | 영어 | - |
| dc.language.iso | ENG | - |
| dc.publisher | IEEE | - |
| dc.title | Modeling and analysis of a hybrid mechanism with kinematic and force redundancies | - |
| dc.type | Article | - |
| dc.publisher.location | 미국 | - |
| dc.identifier.doi | 10.1109/ICCAS.2007.4406692 | - |
| dc.identifier.scopusid | 2-s2.0-48349146558 | - |
| dc.identifier.wosid | 000256464300185 | - |
| dc.identifier.bibliographicCitation | ICCAS 2007 - International Conference on Control, Automation and Systems, pp 2170 - 2175 | - |
| dc.citation.title | ICCAS 2007 - International Conference on Control, Automation and Systems | - |
| dc.citation.startPage | 2170 | - |
| dc.citation.endPage | 2175 | - |
| dc.type.docType | Conference Paper | - |
| dc.description.isOpenAccess | N | - |
| dc.description.journalRegisteredClass | scie | - |
| dc.description.journalRegisteredClass | scopus | - |
| dc.relation.journalResearchArea | Automation & Control Systems | - |
| dc.relation.journalResearchArea | Engineering | - |
| dc.relation.journalResearchArea | Robotics | - |
| dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
| dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
| dc.relation.journalWebOfScienceCategory | Robotics | - |
| dc.subject.keywordPlus | Kinematics | - |
| dc.subject.keywordPlus | Quality assurance | - |
| dc.subject.keywordPlus | Redundancy | - |
| dc.subject.keywordPlus | Redundant manipulators | - |
| dc.subject.keywordPlus | Dynamic modeling | - |
| dc.subject.keywordPlus | Force redundancy | - |
| dc.subject.keywordPlus | Hybrid mechanisms | - |
| dc.subject.keywordPlus | Kinematic redundancy | - |
| dc.subject.keywordPlus | Modeling | - |
| dc.subject.keywordPlus | Modeling and analysis | - |
| dc.subject.keywordPlus | Motion generations | - |
| dc.subject.keywordPlus | Reliability | - |
| dc.subject.keywordAuthor | Force redundancy | - |
| dc.subject.keywordAuthor | Kinematic redundancy | - |
| dc.subject.keywordAuthor | Modeling | - |
| dc.identifier.url | https://ieeexplore.ieee.org/document/4406692 | - |
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Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)