• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.36 no.1
• /
• pp.103-108
• /
• 2012

In this paper, the optimal design of a spring-type gravity compensation system for an articulated robot is presented. Sequential quadratic programming (SQP) is adopted to resolve various nonlinear constraints in spring design such as stress, buckling, and fatigue constraints, and to reduce computation time. In addition, continuous relaxation method is used to explain the integer-valued design variables. The simulation results show that the gravity compensation system designed by proposed method improves the performance effectively without additional weight gain in the main workspace.

• Proceedings of the Korean Society for Agricultural Machinery Conference
• /
• 2000.07a
• /
• pp.257-262
• /
• 2000

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2002.05a
• /
• pp.454-457
• /
• 2002

This paper presents a new motion control for singularity avoidance in 6 DOF articulated robot manipulators, based on a speed limiting algorithm for joint positions and velocities. For a given task, the robot is controlled so that the joints move with acceptable velocities and positions within the reachable range of each joint by considering the velocity limit. The proposed method was verified using MATLAB-based simulations.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.12 no.4
• /
• pp.17-22
• /
• 2003

This paper presents a new circular curve fitting approach of articulated manipulators, based on least square. The approach aims at gaining the interpolation of circle from n data points, under the condition that the fitted circle should pass both a starting point and an ending point. First a spherical fitting should be performed, using least squares. Then the circular curve fitting can be resulted from the intersection of the fitted sphere and the plane obtained from 3 points, i. e., a starting point, an ending point and the center of a sphere. The proposed algorithms are shown to be efficient by using MATLAB-based simulation.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2002.10a
• /
• pp.570-575
• /
• 2002

This paper presents a new circular curve fitting approach of articulated manipulators, based on pseudoinverses. The paper aims at gaining the interpolation of circle from n data points, under the condition that the fitted circle should pass both a start point and an end point. In this paper, two algorithms of circular interpolation are presented. Prior to circular interpolation, are a spherical fitting should be performed, using least squares. In the first algorithm, the relationship between point data and normal vector on the sphere is used. In the second algorithm. the equation of plane which can be obtained from 3 points, i.e., a start point, an end point, and center of a sphere. The proposed algorithms are show to be efficient by using MATLAB-based simulation.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2012.10a
• /
• pp.187-188
• /
• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2003.10a
• /
• pp.183-183
• /
• 2003

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2010.05a
• /
• pp.307-308
• /
• 2010

• ICROS
• /
• v.2 no.3
• /
• pp.81-91
• /
• 1996

이 글에서는 Multi-Tasking Real Time O.S인 VxWorks를 기본으로 하여 다중센서 융합(Multi-Sensor Fusion) 능력을 갖는 다중 로봇 협조제어 시스템의 구현에 대하여 살펴보았다. 본 제어 시스템은 두대 로봇의 제어에 필요한 장애물 회피, 조건 동작(Conditional Motion) 혹은 동시동작(Concurrent Motion)과 외부 디바이스와의 동기 Motion(Conveyor Tracking)을 수행할 수 있게 구현하였고, 몇몇 작업을 통해 우수성을 입증하였다. 앞으로 본 연구와 관련한 추후 과제로는 1) 자유도가 6관절형인 수직다관절 매니퓰레이터를 위한 충돌회피 알고리즘의 개발, 2) Two Arm Robot의 상대 위치를 위한 Auto-Calibration 시스템의 개발, 3) CAD Based Trajectory 생성 등이 있다.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2008.11a
• /
• pp.521-522
• /
• 2008