Task-oriented design of robot kinematics using the Grid Method

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dc.contributor.authorPark J.-Y.ko
dc.contributor.authorChang P.-H.ko
dc.contributor.authorYang J.-Y.ko
dc.date.accessioned2013-03-03T10:14:18Z-
dc.date.available2013-03-03T10:14:18Z-
dc.date.created2012-02-06-
dc.date.created2012-02-06-
dc.date.issued2003-
dc.identifier.citationADVANCED ROBOTICS, v.17, no.9, pp.879 - 907-
dc.identifier.issn0169-1864-
dc.identifier.urihttp://hdl.handle.net/10203/78333-
dc.description.abstractThis paper presents a task-oriented design method for robot kinematics based on the Grid Method, which is widely used in the finite difference method and heat transfer/fluid flow analyses. This approach drastically reduces the complexity of the whole problem and increases the efficiency compared with previous approaches. More specifically, the Grid Method with a new formulation simplifies the design to a problem of a four-design-variable unit grid, which does not require solving inverse/forward kinematics. The efficiency of the Grid Method has been confirmed through a kinematics design of a planar robot for nuclear power plants and spatial robots.-
dc.languageEnglish-
dc.publisherTAYLOR & FRANCIS LTD-
dc.subjectMANIPULATORS-
dc.subjectCONFIGURATIONS-
dc.titleTask-oriented design of robot kinematics using the Grid Method-
dc.typeArticle-
dc.identifier.wosid000187060300003-
dc.identifier.scopusid2-s2.0-0344925655-
dc.type.rimsART-
dc.citation.volume17-
dc.citation.issue9-
dc.citation.beginningpage879-
dc.citation.endingpage907-
dc.citation.publicationnameADVANCED ROBOTICS-
dc.identifier.doi10.1163/156855303770558679-
dc.contributor.localauthorChang P.-H.-
dc.contributor.nonIdAuthorPark J.-Y.-
dc.contributor.nonIdAuthorYang J.-Y.-
dc.type.journalArticleArticle-
dc.subject.keywordAuthorGrid Method-
dc.subject.keywordAuthorrobot manipulator-
dc.subject.keywordAuthortask-oriented design-
dc.subject.keywordAuthorkinematic design-
dc.subject.keywordAuthoroptimum design-
dc.subject.keywordPlusMANIPULATORS-
dc.subject.keywordPlusCONFIGURATIONS-
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