DC Field | Value | Language |
---|---|---|
dc.contributor.author | Yoo, YJ | - |
dc.contributor.author | Jung, DS | - |
dc.contributor.author | Jang, YJ | - |
dc.contributor.author | Won, SC | - |
dc.date.accessioned | 2016-04-01T08:05:59Z | - |
dc.date.available | 2016-04-01T08:05:59Z | - |
dc.date.created | 2015-02-12 | - |
dc.date.issued | 2015-02 | - |
dc.identifier.issn | 0263-5747 | - |
dc.identifier.other | 2015-OAK-0000031951 | - |
dc.identifier.uri | https://oasis.postech.ac.kr/handle/2014.oak/27216 | - |
dc.description.abstract | We propose a fuzzy weighted subtask controller for a redundant robot manipulator. To expand the feasibility of the inverse kinematic solution, we introduce a weighted pseudo-inverse that changes the null-space of the Jacobian. The weights of elements in the pseudo-inverse are obtained using fuzzy rules that are related to the null-space velocity tracking error. With the pseudo-inverse, we develop a task space controller to track a desired task space trajectory and subtask control input. We propose a weighted subtask controller for multiple subtasks. The results of a simulation and experiment using a seven-degree-of-freedom whole arm manipulator robot show the effectiveness of the proposed controller with multiple subtasks. | - |
dc.description.statementofresponsibility | X | - |
dc.language | English | - |
dc.publisher | Cambridge University Press | - |
dc.relation.isPartOf | ROBOTICA | - |
dc.title | Fuzzy weighted subtask controller for redundant manipulator | - |
dc.type | Article | - |
dc.contributor.college | 전자전기공학과 | - |
dc.identifier.doi | 10.1017/S0263574714000344 | - |
dc.author.google | Yoo Y.J. | - |
dc.author.google | Jung D.S. | - |
dc.author.google | Jang Y.J. | - |
dc.author.google | Won S.C. | - |
dc.relation.volume | 33 | - |
dc.relation.issue | 2 | - |
dc.relation.startpage | 295 | - |
dc.relation.lastpage | 313 | - |
dc.contributor.id | 10083575 | - |
dc.relation.journal | ROBOTICA | - |
dc.relation.sci | SCIE | - |
dc.collections.name | Journal Papers | - |
dc.type.rims | ART | - |
dc.identifier.bibliographicCitation | ROBOTICA, v.33, no.2, pp.295 - 313 | - |
dc.identifier.wosid | 000348493900004 | - |
dc.date.tcdate | 2019-02-01 | - |
dc.citation.endPage | 313 | - |
dc.citation.number | 2 | - |
dc.citation.startPage | 295 | - |
dc.citation.title | ROBOTICA | - |
dc.citation.volume | 33 | - |
dc.contributor.affiliatedAuthor | Won, SC | - |
dc.identifier.scopusid | 2-s2.0-84921054462 | - |
dc.description.journalClass | 1 | - |
dc.description.journalClass | 1 | - |
dc.description.wostc | 1 | - |
dc.description.scptc | 1 | * |
dc.date.scptcdate | 2018-05-121 | * |
dc.type.docType | Article | - |
dc.subject.keywordPlus | DYNAMIC ENCODING ALGORITHM | - |
dc.subject.keywordPlus | NONLINEAR TRACKING CONTROL | - |
dc.subject.keywordPlus | ROBOT MANIPULATORS | - |
dc.subject.keywordPlus | KINEMATIC CONTROL | - |
dc.subject.keywordPlus | ADAPTIVE-CONTROL | - |
dc.subject.keywordPlus | RESOLUTION | - |
dc.subject.keywordPlus | TELEOPERATION | - |
dc.subject.keywordAuthor | Redundant manipulators | - |
dc.subject.keywordAuthor | Control of robotic systems | - |
dc.subject.keywordAuthor | Subtask control | - |
dc.subject.keywordAuthor | Self-motion | - |
dc.subject.keywordAuthor | Fuzzy weighted pseudo-inverse | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Robotics | - |
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