Detailed Information
Cited 0 time in 
Cited 0 time in 
Cited 0 time in
Metadata Downloads
Review of Dimension Inhomogeneity in Robotics
- Authors
- Kang, Long; Kim, Sang hwa; Kim, Wheekuk; Yi, Byung ju
- Issue Date
- Jun-2019
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Citation
- 2019 16th International Conference on Ubiquitous Robots, UR 2019, pp 143 - 148
- Pages
- 6
- Indexed
- SCIE
SCOPUS
- Journal Title
- 2019 16th International Conference on Ubiquitous Robots, UR 2019
- Start Page
- 143
- End Page
- 148
- ISSN
- 2325-033X
- Abstract
- Numerous robotic indices have been proposed to evaluate the robot performance and for optimal design of robots. However, due to different units in the output and input of the robotic system, most of these indices are not invariant with respect to changes in the dimensional units. In this paper, the problem of dimensional inhomogeneity in robotics is reviewed and described. The main approaches suggested in the literature for solving unit inconsistency are concluded and some details are given. Finally, it is highlighted that the task-oriented performance index should be carefully designed to be physically consistent, dimensional homogeneous, and frame invariant. © 2019 IEEE.
- Files in This Item
- Go to Link
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)