Modeling and control of interaction forces in dynamically-coupled robotic systems
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Chung, Goo Bong | - |
dc.contributor.author | Yi, Byung ju | - |
dc.contributor.author | Kim, Whee kuk | - |
dc.date.accessioned | 2021-06-23T22:38:36Z | - |
dc.date.available | 2021-06-23T22:38:36Z | - |
dc.date.created | 2021-02-01 | - |
dc.date.issued | 2006-10 | - |
dc.identifier.issn | 2153-0858 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/45347 | - |
dc.description.abstract | In this paper, we propose a new closed-form dynamic model of interaction forces between two interacting robotic modules and a methodology to control the interaction forces by using inherent kinematic redundancy of robotic systems. To show the usefulness of controlling interaction forces, two exemplary cases are introduced. The first example investigates the interaction force between a mobile platform and a serial robot mounted on the platform. The interaction force between the two modules is controlled so that the motion of the mobile platform can be controlled in a desired way. The second example deals with interaction between a serial robot and a human operator. An interaction force is controlled so that the human operator does not feel uncomfortable when the operator performs a designed trajectory motion in cooperation with the robot. ©2006 IEEE. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.title | Modeling and control of interaction forces in dynamically-coupled robotic systems | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Yi, Byung ju | - |
dc.identifier.doi | 10.1109/IROS.2006.281975 | - |
dc.identifier.scopusid | 2-s2.0-34250684136 | - |
dc.identifier.wosid | 000245452401081 | - |
dc.identifier.bibliographicCitation | IEEE International Conference on Intelligent Robots and Systems, pp.1476 - 1483 | - |
dc.relation.isPartOf | IEEE International Conference on Intelligent Robots and Systems | - |
dc.citation.title | IEEE International Conference on Intelligent Robots and Systems | - |
dc.citation.startPage | 1476 | - |
dc.citation.endPage | 1483 | - |
dc.type.rims | ART | - |
dc.type.docType | Conference Paper | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Computer Science | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Computer Science, Artificial Intelligence | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.subject.keywordPlus | Dynamic models | - |
dc.subject.keywordPlus | Force control | - |
dc.subject.keywordPlus | Interactive computer systems | - |
dc.subject.keywordPlus | Kinematics | - |
dc.subject.keywordPlus | Motion estimation | - |
dc.subject.keywordPlus | Dynamic coupling | - |
dc.subject.keywordPlus | Interaction forces | - |
dc.subject.keywordPlus | Kinematic redundancy | - |
dc.subject.keywordPlus | Mobile platforms | - |
dc.subject.keywordPlus | Robotics | - |
dc.subject.keywordAuthor | Dynamic coupling | - |
dc.subject.keywordAuthor | Dynamic modeling | - |
dc.subject.keywordAuthor | Interaction forces | - |
dc.subject.keywordAuthor | Kinematic redundancy | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/4058581/ | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
55 Hanyangdeahak-ro, Sangnok-gu, Ansan, Gyeonggi-do, 15588, Korea+82-31-400-4269 sweetbrain@hanyang.ac.kr
COPYRIGHT © 2021 HANYANG UNIVERSITY. ALL RIGHTS RESERVED.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.