DC Field | Value | Language |
---|---|---|
dc.contributor.author | Chang, Pyung-Hun | ko |
dc.contributor.author | Lee, S | ko |
dc.date.accessioned | 2009-11-11T05:32:23Z | - |
dc.date.available | 2009-11-11T05:32:23Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 2000 | - |
dc.identifier.citation | IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, v.16, pp.592 - 596 | - |
dc.identifier.issn | 1042-296X | - |
dc.identifier.uri | http://hdl.handle.net/10203/12415 | - |
dc.description.abstract | An extension to operational space (EXOS) is presented for the explicit representation of the null-space (NS) dynamics and its interaction with the operational-space dynamics. First, the EXOS Jacobian is formed by augmenting the Jacobian matrix with a minimum number of its NS vectors. Based on the EXOS Jacobian, free of algorithmic singularity, the kinematics, statics, and dynamics of a redundant manipulator are derived in a compact form. In particular, the resulting EXOS dynamics is able to identify the inner dynamic structure. Its efficacy and efficiency have been demonstrated through comparative analysis and simulation. | - |
dc.language | English | - |
dc.language.iso | en_US | en |
dc.publisher | Institute of Electrical and Electronics Engineers | - |
dc.subject | TIME-DELAY CONTROL | - |
dc.subject | ROBOT MANIPULATORS | - |
dc.subject | FORMULATION | - |
dc.title | An extension to operational space for kinematically redundant manipulators: Kinematics and dynamics | - |
dc.type | Article | - |
dc.identifier.wosid | 000165110600013 | - |
dc.identifier.scopusid | 2-s2.0-0034290896 | - |
dc.type.rims | ART | - |
dc.citation.volume | 16 | - |
dc.citation.beginningpage | 592 | - |
dc.citation.endingpage | 596 | - |
dc.citation.publicationname | IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | - |
dc.embargo.liftdate | 9999-12-31 | - |
dc.embargo.terms | 9999-12-31 | - |
dc.contributor.localauthor | Chang, Pyung-Hun | - |
dc.contributor.nonIdAuthor | Lee, S | - |
dc.type.journalArticle | Article; Proceedings Paper | - |
dc.subject.keywordAuthor | dynamics | - |
dc.subject.keywordAuthor | kinematics | - |
dc.subject.keywordAuthor | null space | - |
dc.subject.keywordAuthor | operational space | - |
dc.subject.keywordAuthor | redundant manipulator | - |
dc.subject.keywordAuthor | statics | - |
dc.subject.keywordPlus | TIME-DELAY CONTROL | - |
dc.subject.keywordPlus | ROBOT MANIPULATORS | - |
dc.subject.keywordPlus | FORMULATION | - |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.