• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.531-534
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• 1996

In this work, we investigate the characteristics of output compliance matrix of a planar 3 degree-of-freedom parallel mechanism when joint compliances are attached to the mechanism redundantly. It is shown by simulation that by attaching redundant joint compliances symmetrically to the mechanism, the translational and rotational compliances can be arbitrarily modulated within some ranges. This property could be effectively used in the control of the compliance characteristics of actively adjustable RCC devices.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.9 no.6
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• pp.1395-1401
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• 2005

Mobile manipulator is a robot that has mobility and manipulability with the combination of the task robot and mobile robot. One of the most important feature of the Mobile Manipulator is redundant freedom. Using the redundant freedom, Mobile Manipulator can move various mode, perform dexterous motion. It can have the wider workspace and better performance in avoidance of singularity and obstacle than the fixed base structured robot. Cooperation control using the Mobile Manipulator improves the performance of the robot with redundant freedom in workspace. In this paper, configuration control of the Mobile Manipulator has been studied using Task Segment and TOMM(Task-Oriented Manipulability Measure). For verifying the proposed algorithm, we implemented a mobile manipulator, PURL-II, which is composed of a mobile robot with 3DOF and a task robot with SDOF.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.5
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• pp.1640-1648
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• 1991

본 연구에서는 이러한 편사 함수 최소화의 방법을 적용함에 있어 보다 안정된 수렴성과 계산 시간을 단축시키기 위하여 근접 위치 방법(near position method)을 개 발하여 적용하였다. 근접 위치 방법이란 이론적 해석법으로 풀기가 불가능한 기구학 을 갖는 6관절 로봇을 반복적 해석법을 사용한다는 것을 전제로 하여, 초기 위치를 목 표 위치에 가능한 근접하게 잡아서 반복 계산을 수행하는 방법으로써 로봇의 기구학적 자세에 따른 수렴의 불안정성을 방지하고, 계산 시간을 단축하는데 그 목적이 있다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.10a
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• pp.899-901
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• 2014

This paper presents design of a cleaning robot with an omni-directional mobility. The cleaning robot driven with three wheels has been developed and Those omni-wheels enable the robot to move in any directions so that lateral movement is possible. Three wheels mechanism using ball-type tire has been developed to realize a holonomic omni-diredctional robot.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.739-744
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• 2008

Human-like biped robot is a representative multi-links manipulator and undoubted redundancy system. However many researchers separate biped robot into each limb and analyze the members individually for the convenience analysis. This approach is not desirable for natural trajectory generation and energy optimization. This paper proposes the analysis method considering both legs together and the weighted pseudoinverse optimizing energy consumption.

• Journal of the Korea Society of Computer and Information
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• v.13 no.3
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• pp.153-160
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• 2008

One of the most important features of the Mobile Manipulator is redundant freedom. Using it's redundant freedom, a Mobile Manipulator can move in various modes, and perform dexterous motions. In this paper, to improve robot job performance, two robots -mobile robot, task robot- are joined together to perform a job, we studied the optimal position and posture of a Mobile Manipulator to achieve a minimum of movement of each robot joint. Kinematics of mobile robot and task robot is solved. Using the mobility of a Mobile robot, the weight vector of robots is determined. Using the Gradient method, global motion trajectory is minimized, so the job which the Mobile Manipulator performs is optimized. The proposed algorithm is verified with PURL-II which is Mobile Manipulator combined Mobile robot and task robot, and the results are discussed.