Torque-balancing algorithm for the redundantly actuated parallel mechanism
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Woo, Sang Hun | - |
dc.contributor.author | Kim, Sung Mok | - |
dc.contributor.author | Kim, Min Gun | - |
dc.contributor.author | Yi, Byung-Ju | - |
dc.contributor.author | Kim, Wheekuk | - |
dc.date.accessioned | 2021-09-03T07:45:55Z | - |
dc.date.available | 2021-09-03T07:45:55Z | - |
dc.date.created | 2021-06-16 | - |
dc.date.issued | 2017-04 | - |
dc.identifier.issn | 0957-4158 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/83949 | - |
dc.description.abstract | In this work, a joint torque distribution algorithm of parallel mechanism (PM) with one redundant actuator is suggested. The algorithm is effective in avoiding the joint torque saturations. In the algorithm, the force equations are modified into the line equations representing the joint torque solutions. Then, the optimal joint torque distribution is found only by searching the intersections among the line equations. A comparative study of the suggested algorithm with the other typical actuator redundancy resolution algorithms, such as the minimum-norm (MN) torque algorithm, the weighted MN torque algorithm, and a task-priority algorithm, is conducted through simulations and experiments with a 3-DOF planar PM with one actuator redundancy. The simulations and experiments confirm that the suggested redundant actuation algorithm shows an enhanced performance in terms of joint torque limit avoidance and minimum output force/torque distortion over other preexisting algorithms. (C) 2017 Elsevier Ltd. All rights reserved. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | PERGAMON-ELSEVIER SCIENCE LTD | - |
dc.subject | MANIPULATOR | - |
dc.title | Torque-balancing algorithm for the redundantly actuated parallel mechanism | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Kim, Wheekuk | - |
dc.identifier.doi | 10.1016/j.mechatronics.2017.01.002 | - |
dc.identifier.scopusid | 2-s2.0-85009785995 | - |
dc.identifier.wosid | 000399849700004 | - |
dc.identifier.bibliographicCitation | MECHATRONICS, v.42, pp.41 - 51 | - |
dc.relation.isPartOf | MECHATRONICS | - |
dc.citation.title | MECHATRONICS | - |
dc.citation.volume | 42 | - |
dc.citation.startPage | 41 | - |
dc.citation.endPage | 51 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.relation.journalWebOfScienceCategory | Engineering, Mechanical | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.subject.keywordPlus | MANIPULATOR | - |
dc.subject.keywordAuthor | Redundant actuation | - |
dc.subject.keywordAuthor | Parallel mechanism | - |
dc.subject.keywordAuthor | Kinematic analysis | - |
dc.subject.keywordAuthor | Joint torque saturation | - |
dc.subject.keywordAuthor | Torque-balancing method | - |
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.