DC Field | Value | Language |
---|---|---|
dc.contributor.author | 황면중 | ko |
dc.contributor.author | 정성엽 | ko |
dc.contributor.author | 이두용 | ko |
dc.date.accessioned | 2013-03-06T16:22:10Z | - |
dc.date.available | 2013-03-06T16:22:10Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 2008-07 | - |
dc.identifier.citation | 제어.로봇.시스템학회 논문지, v.14, no.7, pp.656 - 662 | - |
dc.identifier.issn | 1976-5622 | - |
dc.identifier.uri | http://hdl.handle.net/10203/87571 | - |
dc.description.abstract | A cost-function based on manipulability and compatibility is designed to determine assembly motions of two cooperating manipulators. Assembly motions are planned along the direction maximizing performance indices to improve control performance of the two manipulators. This paper proposes bimanual task compatibility by defining cost functions. The proposed cost functions are applied and compared to the bimanual assembly task. The problem is formulated as a constrained optimization considering assembly constraints, position of the workpieces, and kinematics and redundancy of the bimanual robot. The proposed approach is evaluated with simulation of a peg-in-hole assembly with an L-shaped peg and two 3-dof manipulators. | - |
dc.language | Korean | - |
dc.publisher | 제어·로봇·시스템학회 | - |
dc.title | 작업 적합도를 이용한 양팔 로봇의 운동 계획 | - |
dc.title.alternative | Motion Planning of Bimanual Robot Using Bimanual Task Compatibility | - |
dc.type | Article | - |
dc.type.rims | ART | - |
dc.citation.volume | 14 | - |
dc.citation.issue | 7 | - |
dc.citation.beginningpage | 656 | - |
dc.citation.endingpage | 662 | - |
dc.citation.publicationname | 제어.로봇.시스템학회 논문지 | - |
dc.identifier.kciid | ART001264738 | - |
dc.contributor.localauthor | 이두용 | - |
dc.contributor.nonIdAuthor | 황면중 | - |
dc.contributor.nonIdAuthor | 정성엽 | - |
dc.subject.keywordAuthor | bimanual robot | - |
dc.subject.keywordAuthor | robotic assembly | - |
dc.subject.keywordAuthor | motion planning | - |
dc.subject.keywordAuthor | task compatibility | - |
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