The Study on the Real-Time control of Casing Oscillator Using the Inverse Kinematics

역기구학을 이용한 케이싱 오실레이터의 실시간 제어

The casing oscillator used for the foundation work in the construction place. Construction machinery which makes the casing rotate and roll can insert the casing in the ground. It is very important to make the casing perpendicular to sea level regardless of slope of ground. So in this paper, we present the new type casing oscillator that need not to level the ground for the work of casing insertion. The inverse kinematics analysis for the real-time control of casing oscillator is presented.