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Cited 9 time in webofscience Cited 9 time in scopus
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Generalized solution for a sub-problem of inverse kinematics based on product of exponential formula

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dc.contributor.authorAn, Hee Sung-
dc.contributor.authorSeo, Tae Won-
dc.contributor.authorLee, Jeh Won-
dc.date.accessioned2021-08-02T13:29:54Z-
dc.date.available2021-08-02T13:29:54Z-
dc.date.created2021-05-12-
dc.date.issued2018-05-
dc.identifier.issn1738-494X-
dc.identifier.urihttps://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/16984-
dc.description.abstractInverse kinematics presents nontrivial problems in serial manipulators as there is no unique, generalized solution that is applicable to various configurations. Till date, limited results exist on skew configurations, while the published problem definitions and solutions are physically nonintuitive. We present a generalized solution for a subproblem of inverse kinematics based on an exponential formula product, in accordance to a geometrically intuitive method. A case study with a six-degree-of-freedom manipulator is presented to verify the effectiveness of the proposed definition and solution. The latter can be adopted to analyze inverse kinematic problems applicable to various serial manipulators.-
dc.language영어-
dc.language.isoen-
dc.publisherKOREAN SOC MECHANICAL ENGINEERS-
dc.titleGeneralized solution for a sub-problem of inverse kinematics based on product of exponential formula-
dc.typeArticle-
dc.contributor.affiliatedAuthorSeo, Tae Won-
dc.identifier.doi10.1007/s12206-018-0441-0-
dc.identifier.scopusid2-s2.0-85046893438-
dc.identifier.wosid000432356100038-
dc.identifier.bibliographicCitationJOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.32, no.5, pp.2299 - 2307-
dc.relation.isPartOfJOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY-
dc.citation.titleJOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY-
dc.citation.volume32-
dc.citation.number5-
dc.citation.startPage2299-
dc.citation.endPage2307-
dc.type.rimsART-
dc.type.docTypeArticle-
dc.identifier.kciidART002342825-
dc.description.journalClass1-
dc.description.isOpenAccessN-
dc.description.journalRegisteredClassscie-
dc.description.journalRegisteredClassscopus-
dc.description.journalRegisteredClasskci-
dc.relation.journalResearchAreaEngineering-
dc.relation.journalWebOfScienceCategoryEngineering, Mechanical-
dc.subject.keywordAuthorInverse kinematics-
dc.subject.keywordAuthorPaden-Kahan sub-problem-
dc.subject.keywordAuthorProduct of exponential-
dc.subject.keywordAuthorScrew theory-
dc.identifier.urlhttps://link.springer.com/article/10.1007/s12206-018-0441-0-
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