DC Field | Value | Language |
---|---|---|
dc.contributor.author | Shim, IC | ko |
dc.contributor.author | Yoon, Yong-San | ko |
dc.date.accessioned | 2013-03-02T23:43:36Z | - |
dc.date.available | 2013-03-02T23:43:36Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 1998 | - |
dc.identifier.citation | ROBOTICA, v.16, pp.193 - 205 | - |
dc.identifier.issn | 0263-5747 | - |
dc.identifier.uri | http://hdl.handle.net/10203/76071 | - |
dc.description.abstract | The minimization of the joint torques based on the infinity-norm is proposed for the dynamic control of a kinematically redundant manipulator. The infinity-norm is preferred to the 2-norm in the minimization of the joint torques since the maximum torques of the actuators are limited. To obtain the minimum infinity-norm torque solutions we devised a new algorithm that uses the acceleration polyhedron representing the end-effector's acceleration capability. Usually the minimization of the joint torques has an instability problem for the long trajectories of the end-effector. To suppress this instability problem, an inequality constraint, named the feasibility constraint, is developed from the geometrical relation between the required end-effector acceleration and the acceleration polyhedron. The minimization of the infinity-norm of the joint torques subject to the feasibility constraint is shown to improve the performances through the simulations of a 3-link planar redundant manipulator. | - |
dc.language | English | - |
dc.publisher | CAMBRIDGE UNIV PRESS | - |
dc.subject | OPTIMIZATION | - |
dc.title | Stabilized minimum infinity-norm torque solution for redundant manipulators | - |
dc.type | Article | - |
dc.identifier.wosid | 000073448100006 | - |
dc.identifier.scopusid | 2-s2.0-0032023232 | - |
dc.type.rims | ART | - |
dc.citation.volume | 16 | - |
dc.citation.beginningpage | 193 | - |
dc.citation.endingpage | 205 | - |
dc.citation.publicationname | ROBOTICA | - |
dc.contributor.localauthor | Yoon, Yong-San | - |
dc.contributor.nonIdAuthor | Shim, IC | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | redundant manipulator | - |
dc.subject.keywordAuthor | torque minimization | - |
dc.subject.keywordAuthor | acceleration polyhedron | - |
dc.subject.keywordAuthor | feasibility constraint | - |
dc.subject.keywordPlus | OPTIMIZATION | - |
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