@article{ART001254447},
author={김종익 and Rhyu，Kyeong-Taek and Kang Jin-gu},
title={A Study on Posture Control Algorithm of Performing Consecutive Task for Mobile Manipulator},
journal={Journal of The Korea Society of Computer and Information},
issn={1598-849X},
year={2008},
volume={13},
number={3},
pages={153-160}
TY - JOUR
AU - 김종익
AU - Rhyu，Kyeong-Taek
AU - Kang Jin-gu
TI - A Study on Posture Control Algorithm of Performing Consecutive Task for Mobile Manipulator
JO - Journal of The Korea Society of Computer and Information
PY - 2008
VL - 13
IS - 3
PB - The Korean Society Of Computer And Information
SP - 153
EP - 160
SN - 1598-849X
AB - One of the most important features of the Mobile Manipulator is redundant freedom. Using it's redundant freedom, a Mobile Manipulator can move in various modes, and perform dexterous motions. In this paper, to improve robot job performance, two robots -mobile robot, task robot- are joined together to perform a job, we studied the optimal position and posture of a Mobile Manipulator to achieve a minimum of movement of each robot joint. Kinematics of mobile robot and task robot is solved. Using the mobility of a Mobile robot, the weight vector of robots is determined. Using the Gradient method, global motion trajectory is minimized, so the job which the Mobile Manipulator performs is optimized. The proposed algorithm is verified with PURL-Ⅱ which is Mobile Manipulator combined Mobile robot and task robot, and the results are discussed.
KW - Mobile Manipulator;Kinematics;Position Estimation;mobility
DO -
UR -
ER -
김종익, Rhyu，Kyeong-Taek and Kang Jin-gu. (2008). A Study on Posture Control Algorithm of Performing Consecutive Task for Mobile Manipulator. Journal of The Korea Society of Computer and Information, 13(3), 153-160.
김종익, Rhyu，Kyeong-Taek and Kang Jin-gu. 2008, "A Study on Posture Control Algorithm of Performing Consecutive Task for Mobile Manipulator", Journal of The Korea Society of Computer and Information, vol.13, no.3 pp.153-160.
김종익, Rhyu，Kyeong-Taek, Kang Jin-gu "A Study on Posture Control Algorithm of Performing Consecutive Task for Mobile Manipulator" Journal of The Korea Society of Computer and Information 13.3 pp.153-160 (2008) : 153.
김종익, Rhyu，Kyeong-Taek, Kang Jin-gu. A Study on Posture Control Algorithm of Performing Consecutive Task for Mobile Manipulator. 2008; 13(3), 153-160.
김종익, Rhyu，Kyeong-Taek and Kang Jin-gu. "A Study on Posture Control Algorithm of Performing Consecutive Task for Mobile Manipulator" Journal of The Korea Society of Computer and Information 13, no.3 (2008) : 153-160.
김종익; Rhyu，Kyeong-Taek; Kang Jin-gu. A Study on Posture Control Algorithm of Performing Consecutive Task for Mobile Manipulator. Journal of The Korea Society of Computer and Information, 13(3), 153-160.
김종익; Rhyu，Kyeong-Taek; Kang Jin-gu. A Study on Posture Control Algorithm of Performing Consecutive Task for Mobile Manipulator. Journal of The Korea Society of Computer and Information. 2008; 13(3) 153-160.
김종익, Rhyu，Kyeong-Taek, Kang Jin-gu. A Study on Posture Control Algorithm of Performing Consecutive Task for Mobile Manipulator. 2008; 13(3), 153-160.
김종익, Rhyu，Kyeong-Taek and Kang Jin-gu. "A Study on Posture Control Algorithm of Performing Consecutive Task for Mobile Manipulator" Journal of The Korea Society of Computer and Information 13, no.3 (2008) : 153-160.
