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| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Yun, Wonbum | - |
| dc.contributor.author | Lee, Jinoh | - |
| dc.contributor.author | Oh, Sehoon | - |
| dc.date.accessioned | 2023-12-26T18:14:28Z | - |
| dc.date.available | 2023-12-26T18:14:28Z | - |
| dc.date.created | 2022-03-28 | - |
| dc.date.issued | 2022-01-12 | - |
| dc.identifier.isbn | 9781665445405 | - |
| dc.identifier.issn | 2474-2317 | - |
| dc.identifier.uri | http://hdl.handle.net/20.500.11750/46875 | - |
| dc.description.abstract | Methods for designing a multitask controller for redundant robots are often implemented by a null space projector. Although null-space projection-based controllers can achieve the task decoupling performance among prioritized tasks, it is vulnerable to uncertainty due to modeling errors in practice. Accordingly, this paper provides an analytical proof of the task coupling effect caused by the uncertainty and verifies it through a simulation. © 2022 IEEE. | - |
| dc.language | English | - |
| dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
| dc.title | Analysis of task decoupling characteristics of null space projector with uncertainty from modelling error | - |
| dc.type | Conference Paper | - |
| dc.identifier.doi | 10.1109/SII52469.2022.9708792 | - |
| dc.identifier.scopusid | 2-s2.0-85126244402 | - |
| dc.identifier.bibliographicCitation | Yun, Wonbum. (2022-01-12). Analysis of task decoupling characteristics of null space projector with uncertainty from modelling error. 2022 IEEE/SICE International Symposium on System Integration, SII 2022, 963–964. doi: 10.1109/SII52469.2022.9708792 | - |
| dc.identifier.url | https://ras.papercept.net/conferences/scripts/rtf/SII22_ContentListWeb_4.html#weat4_01 | - |
| dc.citation.conferencePlace | NO | - |
| dc.citation.conferencePlace | Online | - |
| dc.citation.endPage | 964 | - |
| dc.citation.startPage | 963 | - |
| dc.citation.title | 2022 IEEE/SICE International Symposium on System Integration, SII 2022 | - |
