등각 기하대수를 이용한 7자유도 로봇 팔의 역기구학 해석
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 김제석 | - |
dc.contributor.author | 박장현 | - |
dc.contributor.author | 지용관 | - |
dc.date.accessioned | 2022-07-16T17:25:27Z | - |
dc.date.available | 2022-07-16T17:25:27Z | - |
dc.date.created | 2021-05-13 | - |
dc.date.issued | 2012 | - |
dc.identifier.issn | 1225-9071 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/166634 | - |
dc.description.abstract | In this paper, we present an inverse kinematics of a 7-dof Anthropomorphic robot arm using conformal geometric algebra. The inverse kinematics of a 7-dof Anthropomorphic robot arm using CGA can be computed in an easy way. The geometrically intuitive operations of CGA make it easy to compute the joint angles of a 7-dof Anthropomorphic robot arm which need to be set in order for the robot to reach its goal or the positions of a redundant robot arm’s end-effector. In order to choose the best solution of the elbow position at an inverse kinematics, optimization techniques have been proposed to minimize an objective function while satisfying the euler-lagrange equation. | - |
dc.language | 한국어 | - |
dc.language.iso | ko | - |
dc.publisher | 한국정밀공학회 | - |
dc.title | 등각 기하대수를 이용한 7자유도 로봇 팔의 역기구학 해석 | - |
dc.title.alternative | Inverse Kinematics Analysis of 7-DOF Anthropomorphic Robot Arm using Conformal Geometric Algebra | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | 박장현 | - |
dc.identifier.doi | 10.7736/KSPE.2012.29.10.1119 | - |
dc.identifier.bibliographicCitation | 한국정밀공학회지, v.29, no.10, pp.1119 - 1127 | - |
dc.relation.isPartOf | 한국정밀공학회지 | - |
dc.citation.title | 한국정밀공학회지 | - |
dc.citation.volume | 29 | - |
dc.citation.number | 10 | - |
dc.citation.startPage | 1119 | - |
dc.citation.endPage | 1127 | - |
dc.type.rims | ART | - |
dc.identifier.kciid | ART001701350 | - |
dc.description.journalClass | 2 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | kci | - |
dc.subject.keywordAuthor | Conformal Geometric Algebra (등각 기하 대수) | - |
dc.subject.keywordAuthor | Inverse Kinematics (역기구학) | - |
dc.subject.keywordAuthor | Anthropomorphic Robot Arm (인간형 로봇 팔) | - |
dc.subject.keywordAuthor | Redundant Manipulator (여유자유도 매니퓰레이터) | - |
dc.identifier.url | https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE01971822&language=ko_KR | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
222, Wangsimni-ro, Seongdong-gu, Seoul, 04763, Korea+82-2-2220-1365
COPYRIGHT © 2021 HANYANG UNIVERSITY.
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.