DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, SJ | ko |
dc.contributor.author | Park, Youn-sik | ko |
dc.date.accessioned | 2013-03-02T14:58:08Z | - |
dc.date.available | 2013-03-02T14:58:08Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 1998 | - |
dc.identifier.citation | ROBOTICA, v.16, pp.669 - 677 | - |
dc.identifier.issn | 0263-5747 | - |
dc.identifier.uri | http://hdl.handle.net/10203/74081 | - |
dc.description.abstract | This paper focuses on overcoming the problem of tracking control in structurally flexible redundant manipulators by utilizing their self-motion capabilities. In the proposed algorithm, the self-motion is evaluated in order to nullify the dominant modal force of flexural motion that is induced by a rigid body motion. The flexure motions of manipulators, which are induced by joint motion, cause undesired inaccuracy in end-effector tracking. In-plath planning states, joint trajectories are so designed as not to excite but to damp out the flexure motions. The self-motion, inherent in redundant manipulators, can alter joint motion, influencing the flexure motion (by exciting and damping the flexure modes), while not affecting end-effector motion at all. Therefore, the self-motion can be utilized to regulate flexibility and effectively reduce the end-effector tracking error. The effectiveness and applicability of the proposed algorithm have been demonstrated through numerical simulation with three-link planar robotic manipulators possessing flexible links. | - |
dc.language | English | - |
dc.publisher | CAMBRIDGE UNIV PRESS | - |
dc.subject | OPTIMIZATION | - |
dc.title | Self-motion utilization for reducing vibration of a structurally flexible redundant robot manipulator system | - |
dc.type | Article | - |
dc.identifier.wosid | 000077668700007 | - |
dc.identifier.scopusid | 2-s2.0-0032205818 | - |
dc.type.rims | ART | - |
dc.citation.volume | 16 | - |
dc.citation.beginningpage | 669 | - |
dc.citation.endingpage | 677 | - |
dc.citation.publicationname | ROBOTICA | - |
dc.contributor.localauthor | Park, Youn-sik | - |
dc.contributor.nonIdAuthor | Kim, SJ | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | redundant manipulators | - |
dc.subject.keywordAuthor | redundancy resolution | - |
dc.subject.keywordAuthor | flexible manipulators | - |
dc.subject.keywordAuthor | vibration reduction | - |
dc.subject.keywordAuthor | self-motion utilization | - |
dc.subject.keywordAuthor | modal force nullification | - |
dc.subject.keywordPlus | OPTIMIZATION | - |
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