Virtual Joint Method for Kinematic Modeling of Wheeled Mobile Manipulators
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Jeong, Hyunhwan | - |
dc.contributor.author | Kim, Hyungsik | - |
dc.contributor.author | Cheong, Joono | - |
dc.contributor.author | Kim, Wheekuk | - |
dc.date.accessioned | 2021-09-05T04:29:22Z | - |
dc.date.available | 2021-09-05T04:29:22Z | - |
dc.date.created | 2021-06-15 | - |
dc.date.issued | 2014-10 | - |
dc.identifier.issn | 1598-6446 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/97198 | - |
dc.description.abstract | In this paper, we propose a virtual joint method that better utilizes quasi-velocities for the kinematic modeling of wheeled mobile manipulators. By identifying quasi-velocities as motions of imaginary revolute and prismatic kinematic pairs, our method enables one to regard a mobile manipulator as an ordinary articulated manipulator for the purposes of velocity analysis. We also propose an inverse kinematic scheme for the mobile manipulators along the line with the virtual joint based kinematic framework. Details are worked out for mobile manipulators with representative differential-drive and car-like mobile platforms. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS | - |
dc.subject | REDUNDANCY RESOLUTION | - |
dc.title | Virtual Joint Method for Kinematic Modeling of Wheeled Mobile Manipulators | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Jeong, Hyunhwan | - |
dc.contributor.affiliatedAuthor | Cheong, Joono | - |
dc.contributor.affiliatedAuthor | Kim, Wheekuk | - |
dc.identifier.doi | 10.1007/s12555-013-0057-1 | - |
dc.identifier.scopusid | 2-s2.0-84906853731 | - |
dc.identifier.wosid | 000341491600017 | - |
dc.identifier.bibliographicCitation | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, v.12, no.5, pp.1059 - 1069 | - |
dc.relation.isPartOf | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | - |
dc.citation.title | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | - |
dc.citation.volume | 12 | - |
dc.citation.number | 5 | - |
dc.citation.startPage | 1059 | - |
dc.citation.endPage | 1069 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.identifier.kciid | ART001911326 | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.subject.keywordPlus | REDUNDANCY RESOLUTION | - |
dc.subject.keywordAuthor | Inverse kinematics | - |
dc.subject.keywordAuthor | mobile manipulators | - |
dc.subject.keywordAuthor | nonholonomic constraint | - |
dc.subject.keywordAuthor | virtual joint | - |
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