Dynamics superposition method for separating torque components of robot manipulators using sinusoidal trajectories
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Choi, Youngwoo | - |
dc.contributor.author | Jung, Dawoon | - |
dc.contributor.author | Cheong, Joono | - |
dc.contributor.author | Do, Hyun Min | - |
dc.contributor.author | Kyung, Jin-Ho | - |
dc.date.accessioned | 2021-09-02T23:53:58Z | - |
dc.date.available | 2021-09-02T23:53:58Z | - |
dc.date.created | 2021-06-19 | - |
dc.date.issued | 2017-11 | - |
dc.identifier.issn | 1738-494X | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/81794 | - |
dc.description.abstract | In this study, we propose a technical method - the so-called dynamic superposition method - for separation of dynamic terms of robot manipulators. We lay over a set of dynamic responses from sinusoidal joint trajectories of different cyclic frequencies, so as to disassemble pure inertial, gravitational and/or frictional torques from the full dynamics forces. The benefits are: first to help us identify dynamic parameters in a simpler sequential manner with better reliability, and second to enable us to understand the in-depth dynamic nature of a specific robot system through dissection. Experimental results confirm the effectiveness of the proposed method. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | KOREAN SOC MECHANICAL ENGINEERS | - |
dc.subject | IDENTIFICATION | - |
dc.subject | COMPENSATION | - |
dc.title | Dynamics superposition method for separating torque components of robot manipulators using sinusoidal trajectories | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Cheong, Joono | - |
dc.identifier.doi | 10.1007/s12206-017-1045-9 | - |
dc.identifier.scopusid | 2-s2.0-85035028054 | - |
dc.identifier.wosid | 000415981900046 | - |
dc.identifier.bibliographicCitation | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.31, no.11, pp.5505 - 5513 | - |
dc.relation.isPartOf | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | - |
dc.citation.title | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | - |
dc.citation.volume | 31 | - |
dc.citation.number | 11 | - |
dc.citation.startPage | 5505 | - |
dc.citation.endPage | 5513 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.identifier.kciid | ART002281082 | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalWebOfScienceCategory | Engineering, Mechanical | - |
dc.subject.keywordPlus | IDENTIFICATION | - |
dc.subject.keywordPlus | COMPENSATION | - |
dc.subject.keywordAuthor | Dynamics superposition | - |
dc.subject.keywordAuthor | Parameter identification | - |
dc.subject.keywordAuthor | Robot manipulator | - |
dc.subject.keywordAuthor | Sinusoidal trajectory | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
(02841) 서울특별시 성북구 안암로 14502-3290-1114
COPYRIGHT © 2021 Korea University. All Rights Reserved.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.