DC Field | Value | Language |
---|---|---|
dc.contributor.author | Choi, Y | - |
dc.contributor.author | Oh, Y | - |
dc.contributor.author | Oh, SR | - |
dc.contributor.author | Park, J | - |
dc.contributor.author | Chung, WK | - |
dc.date.accessioned | 2016-03-31T12:19:27Z | - |
dc.date.available | 2016-03-31T12:19:27Z | - |
dc.date.created | 2011-06-01 | - |
dc.date.issued | 2004-01 | - |
dc.identifier.issn | 0169-1864 | - |
dc.identifier.other | 2004-OAK-0000004434 | - |
dc.identifier.uri | https://oasis.postech.ac.kr/handle/2014.oak/17789 | - |
dc.description.abstract | Robotic manipulators can execute multiple tasks precisely at the same time and, thus, the task-priority scheme plays an important role in implementing multiple tasks. Until now, several algorithms for task-priority have been used in solving the inverse kinematics for redundant manipulators. In this paper, through the comparative study of existing algorithms, we will propose a new method for task-priority manipulation in terms of two important criteria-algorithmic singularity and task error. This manipulation scheme will be applied to a planar three-link manipulator to demonstrate its effectiveness. | - |
dc.description.statementofresponsibility | X | - |
dc.language | English | - |
dc.publisher | VSP BV | - |
dc.relation.isPartOf | ADVANCED ROBOTICS | - |
dc.subject | task priority | - |
dc.subject | manipulation | - |
dc.subject | singularity | - |
dc.subject | redundancy | - |
dc.subject | REDUNDANT MANIPULATORS | - |
dc.subject | RESOLUTION | - |
dc.title | Multiple tasks manipulation for a robotic manipulator | - |
dc.type | Article | - |
dc.contributor.college | 기계공학과 | - |
dc.identifier.doi | 10.1163/1568553041257422 | - |
dc.author.google | Choi, Y | - |
dc.author.google | Oh, Y | - |
dc.author.google | Oh, SR | - |
dc.author.google | Park, J | - |
dc.author.google | Chung, WK | - |
dc.relation.volume | 18 | - |
dc.relation.issue | 6 | - |
dc.relation.startpage | 637 | - |
dc.relation.lastpage | 653 | - |
dc.contributor.id | 10077435 | - |
dc.relation.journal | ADVANCED ROBOTICS | - |
dc.relation.index | SCI급, SCOPUS 등재논문 | - |
dc.relation.sci | SCIE | - |
dc.collections.name | Journal Papers | - |
dc.type.rims | ART | - |
dc.identifier.bibliographicCitation | ADVANCED ROBOTICS, v.18, no.6, pp.637 - 653 | - |
dc.identifier.wosid | 000222920900004 | - |
dc.date.tcdate | 2019-01-01 | - |
dc.citation.endPage | 653 | - |
dc.citation.number | 6 | - |
dc.citation.startPage | 637 | - |
dc.citation.title | ADVANCED ROBOTICS | - |
dc.citation.volume | 18 | - |
dc.contributor.affiliatedAuthor | Chung, WK | - |
dc.identifier.scopusid | 2-s2.0-3142723221 | - |
dc.description.journalClass | 1 | - |
dc.description.journalClass | 1 | - |
dc.description.wostc | 9 | - |
dc.type.docType | Article | - |
dc.subject.keywordAuthor | task priority | - |
dc.subject.keywordAuthor | manipulation | - |
dc.subject.keywordAuthor | singularity | - |
dc.subject.keywordAuthor | redundancy | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Robotics | - |
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