DC Field | Value | Language |
---|---|---|
dc.contributor.author | 유석종 | ko |
dc.contributor.author | 박서욱 | ko |
dc.contributor.author | 오준호 | ko |
dc.date.accessioned | 2013-02-27T03:29:22Z | - |
dc.date.available | 2013-02-27T03:29:22Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 1990-07 | - |
dc.identifier.citation | 대한기계학회논문집 A, v.14, no.4, pp.803 - 809 | - |
dc.identifier.issn | 1226-4873 | - |
dc.identifier.uri | http://hdl.handle.net/10203/66190 | - |
dc.description.abstract | This paper presents a new algorithm for solving the inverse kinematics in real time application. For a planar robot the end-tip movement of each link can be resolved into the basic command unit (BCU), which is determined from the link length, and the resolution of the joint motion. When x- and y-axis projection of the end-tip movement are expressed in BCU, projectional increments corresponding to joint increments become -1, 0 or 1. By using the incremental computation with these increments and some simple logic operations, the inverse kinematics can be realized. Through this approach, a reference-pulse system for the two-link planar robot is established. The proposed algorithm is applied to the real time motion control of the 2 DOF SCARA robot. The experimental results show the path tracking performance of the motion control system. | - |
dc.language | Korean | - |
dc.publisher | 대한기계학회 | - |
dc.title | 기준 펄스 방식에 근거한 관절형 로보트의 실시간 동작제어에 관한 연구 | - |
dc.title.alternative | A Study on the Real Time Motion Control of the Articulated Robot Based on the Reference-Pulse Technique | - |
dc.type | Article | - |
dc.type.rims | ART | - |
dc.citation.volume | 14 | - |
dc.citation.issue | 4 | - |
dc.citation.beginningpage | 803 | - |
dc.citation.endingpage | 809 | - |
dc.citation.publicationname | 대한기계학회논문집 A | - |
dc.contributor.localauthor | 오준호 | - |
dc.contributor.nonIdAuthor | 유석종 | - |
dc.contributor.nonIdAuthor | 박서욱 | - |
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