• Journal of the Korean Society for Precision Engineering
• /
• v.13 no.6
• /
• pp.122-127
• /
• 1996

The achievement of the optimal condition for the task of an industrial articulated robot used in many fields is an important problem to improve productivity. In this paper, a minimum-time trajectory for an articulated robot along the specified path is studied and simulated with a proper example. A general dynamic model of manipulator is represented as a function of path distance. Using this model, the velocity is produced as fast as possible at each point along the path. This minimum-time trajectory planning module together with the existing collision-free path planning modules is utilized to design the optimal path planning of robot in cases where obstacles present.

• Journal of the Korean Society for Precision Engineering
• /
• v.15 no.3
• /
• pp.157-167
• /
• 1998

In this paper it is purpose that reduces joint torques and their rate of change through optimizing trajectory planning of biped walking machine. The motion of biped walking machine is divided into leg motion for walking and body motion for keeping balance. The leg motion is planned by three phases, that are deploy, swing, and place phases, in terms of the state of foot against floor. The distribution of time assigned to each phase is optimized and that causes leg joint torques and their rate of change to minimize. The body notion is produced by using optimal control theory which minimizes body joint torques and satisfies Z.M.P. constraints defined as region of each phase.

• Proceedings of the Korean Society of Propulsion Engineers Conference
• /
• v.y2005m4
• /
• pp.11-15
• /
• 2005

Compared with the conventional ground rocket launching, air-launching has many advantages. However, comprehensive and integrated system design approach is required because the physical geometry of air launch vehicle is quite dependent on the installation limitation of the mother plane. The system design has been performed using two different approaches: the sequential optimization and the multidisciplinary feasible(MDF) optimization method. Analysis modules include mission analysis, staging, propulsion analysis, configuration, weight analysis, aerodynamics analysis and trajectory analysis. MDF optimization shows better result than sequential optimization. As a result of system optimization, a supersonic air launching rocket with total mass of 1244.91 kg, total length of 6.18 m, outer diameter of 0.60 m and the payload mass of 7.5 kg has been successfully designed.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.33 no.12
• /
• pp.26-32
• /
• 2005

Compared with the conventional ground rocket launching, air-launching has many advantages. However, a comprehensive and integrated system design approach is required because the physical geometry of air launch vehicle is quite dependent on the installation limitation of the mother plane. The system design has been performed using two different approaches: the sequential optimization and the multidisciplinary feasible(MDF) optimization method. Analysis modules include mission analysis, staging, propulsion analysis, configuration, weight analysis, aerodynamics analysis and trajectory analysis. MDF optimization shows better results than the sequential optimization. As a result of system optimization, a supersonic air launching rocket with total mass of 1244.91kg, total length of 6.36m, outer diameter of 0.60m and the payload mass of 7.5kg has been successfully designed.

• Journal of Astronomy and Space Sciences
• /
• v.22 no.4
• /
• pp.451-462
• /
• 2005

Optimal Trajectory Correction Maneuver (TCM) design algorithm has been developed using the B-plane targeting method for future Korean Mars missions. For every-mission phase, trajectory informations can also be obtained using this developed algorithms which are essential to design optimal TCM strategy. The information were computed under minimum requiring perturbations to design Mars missions. Spacecraft can not be reached at designed aim point because of unexpected trajectory errors, caused by many perturbations and errors due to operating impulsive maneuvers during the cruising phase of missions. To maintain spacecraft's appropriate trajectory and deliver it to the designed aim point, B-plane targeting techniques are needed. A software NPSOL is used to solve this optimization problem, with the performance index of minimizing total amount of TCM's magnitude. And also executing time of maneuvers on be controlled for the user defined maneuver number $(1\~5)$ of TCMs. The constraints, the Mars arrival B-plane boundary conditions, are formulated for the problem. Results of this work show the ability to design and analyze overall Mars missions, from the Earth launch phase to Mars arrival phase including capture orbit status for future Korean Mars missions

• Bulletin of the Korean Space Science Society
• /
• 2004.04a
• /
• pp.58-58
• /
• 2004

인공위성 편대비행에서는 위성간 거리가 수 미터에서 수 킬로미터에 달하기 때문에 궤도 배치 및 재배치시 위성간 충돌의 문제는 매우 중요하다. 따라서 궤도 배치 및 재배치 단계에서 위성간 충돌을 피하고, 연료소모를 최소화시키면서 목적한 최종 배치를 만족시키는 최적경로를 산출하는 방법이 최근들어 연구되고 있다. 최적 경로를 산출하는 궤적 최적화 (Trajectory optimization) 문제를 풀기 위한 방법으로 크게 직접적인 (Direct) 방법과 간접적인 (Indirect) 방법이 있다. (중략)

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.11 no.3
• /
• pp.27-31
• /
• 1974

The maximum principle of Pontryagin provides the celebrated method to obtain the optimum control switching time and switching points on the nuclear reactor. The control trajectories transfered from its initial state to the target state are optimized based on time optioptimal control method with the given reactor parameters and the piecewise constant input values.

• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10a
• /
• pp.413-418
• /
• 1991

Two methods are applied to the problem of trajectory optimization for launch vehicles which burn solid propellant. One is 'Optimal Control' theory, the other is 'NonLinear Programming' method. Trajectory optimization for solid rocket motors has a special problem. The special problem is that the payload of launch vehicle is not the function of control variable. This paper deals with this special problem.

• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10a
• /
• pp.92-97
• /
• 1988

The path planning is done at the joint level. Cubic spline functions are used for constructing joint trajectories for industrial robots. For N-joint robot, Cartesian knots are transformed into N sets of joint displacements, with one set for each joint. For industrial application the speed of operation affects the productivity. An algorithm is developed to schedule the time intervals between each pair of adjacent knots such that the total traveling time is minimized subject to the physical constraints on joint velocties acceleration and jerks.

• Proceedings of the KIEE Conference
• /
• 1998.07b
• /
• pp.703-705
• /
• 1998

In this paper, we have suggested the method of genetic algorithm to solve the trajectory optimization. The given nonlinear method is so complex and modeling is not easy. Also, we have suggested the nonlinear programming combined with genetic algorithm. The proposed algorithm gives simple and time-reducing method in solving nonlinear dynamic systems.