Auteur Choi, Youngjin
Documents disponibles écrits par cet auteur (2)
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Article : texte imprimé
Choi, Youngjin, Auteur ; Chung, Wan Kyun, Auteur |The PID trajectory tracking controller for Lagrangian systems shows performance limitation imposed by inverse dynamics according to desired trajectory. Since the equilibrium point cannot be defined for the control system involving performance li[...]
Article : texte imprimé
Choi, Youngjin, Auteur |In this paper, a singularity-robust inverse kinematics is newly suggested by using a Lagrange multiplier for redundant manipulator systems. Two tasks are considered with priority orders under the assumption that a primary task has no singularity[...]
