KLI

로보트 매니플레이터의 KIC-Based 동력학적 모델링의 개선 방안 연구

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Alternative Title
Computationally Efficient KIC-Based Dynamic Modeling of Robot Manipulators
Abstract
본 논문은 기존의 KICs(Kinematic Influence Coefficients)에 근거한 로보트 매니퓰레이터의 동력학적 모델링 방법과 그 적용의 장점을 소개하고, 이 방법의 단점인 계산의 비효율성을 극복하기 위한 개선 방안을 제시한다. 제시된 방법은 Generalized Augmented Body 개념을 기초로 하고, 기존의 방법에 비교하여 동력학적 모델을 구하는데 필요한 계산의 갯수(Computational Counts)의 44% 감소를 이루었다.
In this paper, the current KIC(Kinematic Influence Coefficients) based dynamic modeling algorithm of robot manipulators is modified to overcome its computational inefficiency. The modification is made by the introduction of the generalized body concept. This modified algorithm allows a 44% computational saving over the current optimized method.
In this paper, the current KIC(Kinematic Influence Coefficients) based dynamic modeling algorithm of robot manipulators is modified to overcome its computational inefficiency. The modification is made by the introduction of the generalized body concept. This modified algorithm allows a 44% computational saving over the current optimized method.
Author(s)
강희준
Issued Date
1993
Type
Research Laboratory
URI
https://oak.ulsan.ac.kr/handle/2021.oak/3774
http://ulsan.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002024109
Alternative Author(s)
Kang,Hee-Jun
Publisher
공학연구논문집
Language
eng
Rights
울산대학교 저작물은 저작권에 의해 보호받습니다.
Citation Volume
24
Citation Number
2
Citation Start Page
95
Citation End Page
108
Appears in Collections:
Research Laboratory > Engineering Research
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