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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 대한기계학회 Journal of Mechanical Science and Technology Journal of Mechanical Science and Technology Vol.19 No.1[Special Edition]
- 발행연도
- 2005.1
- 수록면
- 237 - 254 (18page)
이용수
초록· 키워드
오류제보하기
The vast mechanical systems could be classified as closed loop system, open loop system and open & closed (switching) system in the closed loop system, the kinematics and dynamics of 3-D mechanisms will be reviewed and closed form solutions using the direction cosine matrix method and reflection transformation method will be introduced In the open loop system, kinematic & dynamic analysis methods regarding the redundant system Which has more degrees of freedom tn Joint space than those of task space are reviewed and discussed Finally, switching system which changes Its phase between closed and open loop motion is investigated With the principle of dynamical balance Among switching systems, the human gait in biomechanics and humanoid In robotics are presented
목차
Abstract
1. Introduction
2. Closed Loop System
3. Open Loop System
4. Closed & Open Loop (Switching) Systems
5. Conclusions
References
참고문헌 (61)
참고문헌 신청
Bailheul, J, Hollerbach, J M and Brockett, R W., 1984, "Programming and Control of Kinematically Redundant Manipulators," 23rd IEEE Conf. Decision and Control (Las Vegas, Nevada), Dec, pp 768~774
Bailheul, J, 1985, "Kinematic Programming Alternatives for Redundant Manipulators," Proc IEEE Int. Conf Robotics and Automation (St. Louis, MO), Mar, pp 722~728
Baker, D R and Wampler II, C W, 1988, "On the Inverse Kinematics of Redundant Mampulators," Int J. Robotics Res, Vol 7, No 2, pp 3~21
Benhabib, B, Goldenberg, A. A and Fenton, R G, 1985, "A Solution to the Inverse Klnematics of Redundant Manipulators," J. Robotic Systems, Vol 2, No 4, pp.373~385
Ben-Israel, A and Greville, T N E, 1980, "Generalized Inverse Theory and Applications," Robert E. Krieger Publishing Co, New York
Bailheul, J, 1985, "Kinematic Programming Alternatives for Redundant Manipulators," Proc IEEE Int. Conf Robotics and Automation (St. Louis, MO), Mar, pp 722~728
Baker, D R and Wampler II, C W, 1988, "On the Inverse Kinematics of Redundant Mampulators," Int J. Robotics Res, Vol 7, No 2, pp 3~21
Benhabib, B, Goldenberg, A. A and Fenton, R G, 1985, "A Solution to the Inverse Klnematics of Redundant Manipulators," J. Robotic Systems, Vol 2, No 4, pp.373~385
Ben-Israel, A and Greville, T N E, 1980, "Generalized Inverse Theory and Applications," Robert E. Krieger Publishing Co, New York
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