A Stable Sequential Inverse Kinematics of Flexible Robots: Explicit and Implicit Expansion Methods

Joono Cheong; Youngil Youm; Wan Kyun Chung

A Stable Sequential Inverse Kinematics of Flexible Robots: Explicit and Implicit Expansion Methods

Joono Cheong^*
, Youngil Youm
, Wan Kyun Chung

^*Corresponding author for this work

Research output: Contribution to conference › Paper › peer-review

Abstract

This paper deals with the sequential inverse kinematics for the high speed tracking of flexible robots. As a continuation of the implicit expansion method in [1], the explicit version of the sequential inverse kinematics is presented which is easier to be understood conceptually. The accuracy and stability of the two algorithms are compared and proved. Numerical study verifies the validity of the theoretical results.

Original language	English
Pages	3288-3293
Number of pages	6
Publication status	Published - 2003
Externally published	Yes
Event	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States Duration: 2003 Oct 27 → 2003 Oct 31

Other

Other	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	United States
City	Las Vegas, NV
Period	03/10/27 → 03/10/31

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Cite this

@conference{df807dc7124c464cbddd2776bb61df5c,

title = "A Stable Sequential Inverse Kinematics of Flexible Robots: Explicit and Implicit Expansion Methods",

abstract = "This paper deals with the sequential inverse kinematics for the high speed tracking of flexible robots. As a continuation of the implicit expansion method in [1], the explicit version of the sequential inverse kinematics is presented which is easier to be understood conceptually. The accuracy and stability of the two algorithms are compared and proved. Numerical study verifies the validity of the theoretical results.",

author = "Joono Cheong and Youngil Youm and Chung, \{Wan Kyun\}",

year = "2003",

language = "English",

pages = "3288--3293",

note = "2003 IEEE/RSJ International Conference on Intelligent Robots and Systems ; Conference date: 27-10-2003 Through 31-10-2003",

}

TY - CONF

T1 - A Stable Sequential Inverse Kinematics of Flexible Robots

T2 - 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems

AU - Cheong, Joono

AU - Youm, Youngil

AU - Chung, Wan Kyun

PY - 2003

Y1 - 2003

N2 - This paper deals with the sequential inverse kinematics for the high speed tracking of flexible robots. As a continuation of the implicit expansion method in [1], the explicit version of the sequential inverse kinematics is presented which is easier to be understood conceptually. The accuracy and stability of the two algorithms are compared and proved. Numerical study verifies the validity of the theoretical results.

AB - This paper deals with the sequential inverse kinematics for the high speed tracking of flexible robots. As a continuation of the implicit expansion method in [1], the explicit version of the sequential inverse kinematics is presented which is easier to be understood conceptually. The accuracy and stability of the two algorithms are compared and proved. Numerical study verifies the validity of the theoretical results.

UR - https://www.scopus.com/pages/publications/0348040243

M3 - Paper

AN - SCOPUS:0348040243

SP - 3288

EP - 3293

Y2 - 27 October 2003 through 31 October 2003

ER -

A Stable Sequential Inverse Kinematics of Flexible Robots: Explicit and Implicit Expansion Methods

Abstract

Other

ASJC Scopus subject areas

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