An extension to operational space for kinematically redundant manipulators: Kinematics and dynamics

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dc.contributor.authorChang, Pyung-Hunko
dc.contributor.authorLee, Sko
dc.date.accessioned2009-11-11T05:32:23Z-
dc.date.available2009-11-11T05:32:23Z-
dc.date.created2012-02-06-
dc.date.created2012-02-06-
dc.date.issued2000-
dc.identifier.citationIEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, v.16, pp.592 - 596-
dc.identifier.issn1042-296X-
dc.identifier.urihttp://hdl.handle.net/10203/12415-
dc.description.abstractAn 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.languageEnglish-
dc.language.isoen_USen
dc.publisherInstitute of Electrical and Electronics Engineers-
dc.subjectTIME-DELAY CONTROL-
dc.subjectROBOT MANIPULATORS-
dc.subjectFORMULATION-
dc.titleAn extension to operational space for kinematically redundant manipulators: Kinematics and dynamics-
dc.typeArticle-
dc.identifier.wosid000165110600013-
dc.identifier.scopusid2-s2.0-0034290896-
dc.type.rimsART-
dc.citation.volume16-
dc.citation.beginningpage592-
dc.citation.endingpage596-
dc.citation.publicationnameIEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION-
dc.embargo.liftdate9999-12-31-
dc.embargo.terms9999-12-31-
dc.contributor.localauthorChang, Pyung-Hun-
dc.contributor.nonIdAuthorLee, S-
dc.type.journalArticleArticle; Proceedings Paper-
dc.subject.keywordAuthordynamics-
dc.subject.keywordAuthorkinematics-
dc.subject.keywordAuthornull space-
dc.subject.keywordAuthoroperational space-
dc.subject.keywordAuthorredundant manipulator-
dc.subject.keywordAuthorstatics-
dc.subject.keywordPlusTIME-DELAY CONTROL-
dc.subject.keywordPlusROBOT MANIPULATORS-
dc.subject.keywordPlusFORMULATION-
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