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http://dx.doi.org/10.9726/kspse.2015.19.3.075

Redundancy resolution method of omni-directional mobile manipulator system  

Kwon, Soon-Jae (Department of Mechanical Design Engineering, Pukyong University)
Jeong, Jae-Ung (R&D Center, CMK)
Publication Information
Journal of Power System Engineering / v.19, no.3, 2015 , pp. 75-80 More about this Journal
Abstract
Typically, robot system configured by articulated robot manipulator with 1 DOF transfer unit is being applied in automotive manufacturing automation process. Especially, 1 DOF transfer unit is necessary to extend workspace of robot manipulator. In this configuration, because transfer unit works only one direction, robot manipulator only works in one side in case of car body painting or sealing automation process. it is necessary three robot manipulator system at least. In this paper, in order to robot manipulator works effectively in car body sealing automation application, we are suggested omni-directional manipulator system and conducted studying on redundancy resolution method to solve manipulability-optimal problem.
Keywords
Robot automation; Mobile manipulator; Redundancy resolution; Optimal problem;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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