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dc.contributor.authorUzunoğlu, Emre
dc.contributor.authorDede, Mehmet İsmet Can
dc.contributor.authorKiper, Gökhan
dc.date.accessioned2016-03-17T09:19:39Z
dc.date.available2016-03-17T09:19:39Z
dc.date.issued2015-10
dc.identifier.isbn9789860460988
dc.identifier.urihttp://www.iftomm2015.tw/IFToMM2015CD/PDF/OS13-094.pdf
dc.identifier.urihttp://hdl.handle.net/11147/4486
dc.description.abstractKinematic redundancy in robots provide the control designer with infinite number of possibilities for improving the process for a selected target optimization criterion. A special type of kinematic redundancy is devised by using kinematically different two mechanisms with different advantages. In this case, the control design including the trajectory planning should be devised taking into account the distinct advantages of both mechanisms. In this work, a macro mechanism with larger workspace is used along with a micro mechanism that has higher dynamics and lower inertia. A trajectory planning algorithm integrated with the control structure making use of the previously defined advantages of both mechanisms is explained in this paper. A case study is provided to validate the developed algorithm.en_US
dc.language.isoengen_US
dc.publisherIFToMMen_US
dc.relation.isversionof10.6567/IFToMM.14TH.WC.OS13.094en_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectTrajectory planningen_US
dc.subjectRedundant manipulatoren_US
dc.subjectRedundancy resolutionen_US
dc.subjectMacro-micro manipulatoren_US
dc.titleTrajectory planning for a redundant planar laser-cutting machine with macro-micro manipulationen_US
dc.typeconferenceObjecten_US
dc.contributor.authorIDTR26957en_US
dc.contributor.authorIDTR24470en_US
dc.contributor.institutionauthorDede, Mehmet İsmet Can
dc.contributor.institutionauthorKiper, Gökhan
dc.relation.journalThe 14th IFToMM World Congressen_US
dc.contributor.departmentIzmir Institute of Technology. Mechanical Engineeringen_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US


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