DC Field | Value | Language |
---|---|---|
dc.contributor.author | Park, Joon-Young | ko |
dc.contributor.author | Chang, Pyung-Hun | ko |
dc.contributor.author | Kim, Jin-Oh | ko |
dc.date.accessioned | 2013-03-07T08:00:26Z | - |
dc.date.available | 2013-03-07T08:00:26Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 2006 | - |
dc.identifier.citation | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, v.4, no.5, pp.575 - 591 | - |
dc.identifier.issn | 1598-6446 | - |
dc.identifier.uri | http://hdl.handle.net/10203/89751 | - |
dc.description.abstract | In a previous research, we presented the Grid Method and confirmed it as a systematic and efficient problem formulation method for the task-oriented design of robot kinematics. However, our previous research was limited in two ways. First, it gave only a local optimum due to its use of a local optimization technique. Second, it used constant weights for a cost function chosen by the manual weights tuning algorithm, thereby showing low efficiency in finding an optimal solution. To overcome these two limitations, therefore, this paper presents a global optimization technique and an adaptive weights tuning algorithm to solve a formulated problem using the Grid Method. The efficiencies of the proposed algorithms have been confirmed through the kinematic design examples of various robot manipulators. | - |
dc.language | English | - |
dc.publisher | Inst Control Robotics & Systems | - |
dc.subject | OPTIMIZATION | - |
dc.subject | MANIPULATORS | - |
dc.title | A global optimal approach for robot kinematics design using the Grid Method | - |
dc.type | Article | - |
dc.identifier.wosid | 000240880400006 | - |
dc.identifier.scopusid | 2-s2.0-33749479196 | - |
dc.type.rims | ART | - |
dc.citation.volume | 4 | - |
dc.citation.issue | 5 | - |
dc.citation.beginningpage | 575 | - |
dc.citation.endingpage | 591 | - |
dc.citation.publicationname | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | - |
dc.contributor.localauthor | Chang, Pyung-Hun | - |
dc.contributor.nonIdAuthor | Park, Joon-Young | - |
dc.contributor.nonIdAuthor | Kim, Jin-Oh | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Adaptive weights tuning | - |
dc.subject.keywordAuthor | Global optimal kinematics | - |
dc.subject.keywordAuthor | Grid method | - |
dc.subject.keywordAuthor | Simulated annealing | - |
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