Full metadata record
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Lee, Jinoh | - |
| dc.contributor.author | Chang, Pyung-Hun | - |
| dc.contributor.author | Gweon, Dae-Gab | - |
| dc.date.available | 2017-07-11T07:58:03Z | - |
| dc.date.created | 2017-05-08 | - |
| dc.date.issued | 2012 | - |
| dc.identifier.isbn | 9780000000000 | - |
| dc.identifier.issn | 1050-4729 | - |
| dc.identifier.uri | http://hdl.handle.net/20.500.11750/3858 | - |
| dc.description.abstract | This paper focuses on a kinematic redundancy resolution of bimanual robotic system for a machining task as a part of factory automation. Inspired by a study of human bimanual action, called Guiard's principles, a cost function is proposed by using task-compatibility indices. An acceleration-level redundancy resolution is provided via optimization of the cost function in order to reflect the role of human arm movement: one arm performs coarse motion, and the other fine motion. A dynamic simulation with two 6 degrees-of-freedom robots shows the effectiveness of the proposed idea. © 2012 IEEE. | - |
| dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
| dc.relation.ispartof | Proceedings - IEEE International Conference on Robotics and Automation | - |
| dc.title | A cost function inspired by human arms movement for a bimanual robotic machining | - |
| dc.type | Conference Paper | - |
| dc.identifier.doi | 10.1109/ICRA.2012.6224643 | - |
| dc.identifier.scopusid | 2-s2.0-84864449338 | - |
| dc.identifier.bibliographicCitation | , pp.5431 - 5436 | - |
| dc.citation.conferencePlace | US | - |
| dc.citation.endPage | 5436 | - |
| dc.citation.startPage | 5431 | - |
| dc.type.docType | Conference Paper | - |
- Files in This Item:
-
There are no files associated with this item.
- Appears in Collections:
- ETC 2. Conference Papers
Items in Repository are protected by copyright, with all rights reserved, unless otherwise indicated.