DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Yong Min | ko |
dc.contributor.author | Kim, Byung-Kook | ko |
dc.date.accessioned | 2017-04-17T07:42:01Z | - |
dc.date.available | 2017-04-17T07:42:01Z | - |
dc.date.created | 2017-04-04 | - |
dc.date.created | 2017-04-04 | - |
dc.date.issued | 2017-01 | - |
dc.identifier.citation | INTELLIGENT SERVICE ROBOTICS, v.10, no.1, pp.1 - 11 | - |
dc.identifier.issn | 1861-2776 | - |
dc.identifier.uri | http://hdl.handle.net/10203/223345 | - |
dc.description.abstract | This paper investigates the minimum-energy joint path-following problem for space manipulators whose base attitude is stabilized by reaction wheels. In the problem, manipulator joint path is specified for rest-to-rest motion and constraints are imposed as the upper bound on both motion completion time and the voltage/current limits of DC motors in manipulator joints and reaction wheels. We suggest a simple two-stage algorithm to address this problem. The algorithm first tries to find a global optimal solution by solving a relaxed convex problem. If the convex relaxation is not successful, then the algorithm solves subproblems iteratively to find a suboptimal solution. Since both problems are formulated as second-order cone programming (SOCP) form, they can be solved efficiently using dedicated SOCP solvers. The effectiveness of the proposed method is verified by numerical experiments. | - |
dc.language | English | - |
dc.publisher | SPRINGER HEIDELBERG | - |
dc.subject | ROBOTIC MANIPULATORS | - |
dc.title | Energy-efficient joint path-following for attitude-fixed space manipulators with bounds on completion time and motor voltage/current | - |
dc.type | Article | - |
dc.identifier.wosid | 000394427500001 | - |
dc.identifier.scopusid | 2-s2.0-85000948447 | - |
dc.type.rims | ART | - |
dc.citation.volume | 10 | - |
dc.citation.issue | 1 | - |
dc.citation.beginningpage | 1 | - |
dc.citation.endingpage | 11 | - |
dc.citation.publicationname | INTELLIGENT SERVICE ROBOTICS | - |
dc.identifier.doi | 10.1007/s11370-016-0211-8 | - |
dc.contributor.localauthor | Kim, Byung-Kook | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Space manipulators | - |
dc.subject.keywordAuthor | Path-following | - |
dc.subject.keywordAuthor | Trajcctory optimization | - |
dc.subject.keywordAuthor | Optimal control | - |
dc.subject.keywordPlus | ROBOTIC MANIPULATORS | - |
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