DC Field | Value | Language |
---|---|---|
dc.contributor.author | Cho, Dong Kwon | ko |
dc.contributor.author | Choi, Byoung Wook | ko |
dc.contributor.author | Chung, Myung Jin | ko |
dc.date.accessioned | 2013-03-02T17:41:55Z | - |
dc.date.available | 2013-03-02T17:41:55Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 1995 | - |
dc.identifier.citation | ROBOTICA, v.13, pp.95 - 101 | - |
dc.identifier.issn | 0263-5747 | - |
dc.identifier.uri | http://hdl.handle.net/10203/74766 | - |
dc.description.abstract | The algorithms of inverse kinematics based on optimality constraints have some problems because those are based only on necessary conditions for optimality. One of the problems is a switching problem, i.e., an undesirable configuration change from a maximum value of a performance measure to a minimum value may occur and cause an inverse kinematic solution to be unstable. In this paper, we derive sufficient conditions for the optimal solution of the kinematic control of a redundant manipulator. In particular, we obtain the explicit forms of the switching condition for the optimality constraints-based methods. We also show that the configuration at which switching occurs is equivalent to an algorithmic singularity in the extended Jacobian method. Through a numerical example of a cyclic task, we show the problems of the optimality constraints-based methods. To obtain good configurations without switching and kinematical singularities, we propose a simple algorithm of inverse kinematics. | - |
dc.language | English | - |
dc.publisher | CAMBRIDGE UNIV PRESS | - |
dc.title | OPTIMAL CONDITIONS FOR INVERSE KINEMATICS OF A ROBOT MANIPULATOR WITH REDUNDANCY | - |
dc.type | Article | - |
dc.identifier.wosid | A1995QC68200011 | - |
dc.type.rims | ART | - |
dc.citation.volume | 13 | - |
dc.citation.beginningpage | 95 | - |
dc.citation.endingpage | 101 | - |
dc.citation.publicationname | ROBOTICA | - |
dc.contributor.localauthor | Chung, Myung Jin | - |
dc.contributor.nonIdAuthor | Cho, Dong Kwon | - |
dc.contributor.nonIdAuthor | Choi, Byoung Wook | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | REDUNDANT MANIPULATOR | - |
dc.subject.keywordAuthor | INVERSE KINEMATICS | - |
dc.subject.keywordAuthor | REDUNDANCY RESOLUTION | - |
dc.subject.keywordAuthor | SINGULARITY AVOIDANCE | - |
dc.subject.keywordAuthor | ALGORITHMIC SINGULARITY | - |
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