DC Field | Value | Language |
---|---|---|
dc.contributor.author | Oh, Jaesung | ko |
dc.contributor.author | Bae, Hyoin | ko |
dc.contributor.author | Oh, Jun-Ho | ko |
dc.date.accessioned | 2017-07-03T06:48:48Z | - |
dc.date.available | 2017-07-03T06:48:48Z | - |
dc.date.created | 2017-06-22 | - |
dc.date.created | 2017-06-22 | - |
dc.date.created | 2017-06-22 | - |
dc.date.issued | 2017-04-10 | - |
dc.identifier.citation | 1st IEEE International Conference on Robotic Computing (IRC), pp.123 - 128 | - |
dc.identifier.uri | http://hdl.handle.net/10203/224330 | - |
dc.description.abstract | This study proposes an analytic inverse kinematic solution considering joint limit and self-collision avoidance for a redundant 7DOF manipulator with spherical shoulder and wrist joints. An analytic approach is used to satisfy the sub-task. The arm angle is used to restrain the manipulator redundancy. The analytic inverse kinematic solution set satisfying the sub-task is proposed by determining the range of the feasible arm angle. The effectiveness of the proposed method was verified through a simulation. We confirmed that the solution of the proposed method always satisfies the joint limit constraints and self-collision avoidance. | - |
dc.language | English | - |
dc.publisher | IEEE International Conference on Robotic Computing (IRC) | - |
dc.title | Analytic Inverse Kinematics Considering the Joint Constraints and Self-Collision for Redundant 7DOF Manipulator | - |
dc.type | Conference | - |
dc.identifier.wosid | 000411203500021 | - |
dc.identifier.scopusid | 2-s2.0-85020178149 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 123 | - |
dc.citation.endingpage | 128 | - |
dc.citation.publicationname | 1st IEEE International Conference on Robotic Computing (IRC) | - |
dc.identifier.conferencecountry | CH | - |
dc.identifier.conferencelocation | The Splendor Hotel Taichung | - |
dc.identifier.doi | 10.1109/IRC.2017.46 | - |
dc.contributor.localauthor | Oh, Jun-Ho | - |
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