• 한국전자통신학회논문지
• /
• 제4권3호
• /
• pp.236-242
• /
• 2009

2관절 유연한 로봇 팔는 관절 축을 회전할 때 진동이 발생한다. 본 논문에서는 유연한 로봇팔의 진동 동력학은 bernoulli-Euler의 beam이론과 라그란지 방정식을 이용하여 구하였고, $\dot{D}$-2C가 skew symmetric이다는 사실을 사용하여 계산량을 줄이는 단순한 구조의 새로운 제어기를 제안한다. Lyapunov 안정도 이론은 관절을 조절하기 위한 안정한 확정적인 비선형 제어기를 성취하기 위하여 적용된다.

• 한국운동역학회지
• /
• 제16권4호
• /
• pp.49-59
• /
• 2006

The purpose of this study was to investigate the relations between the segments of the body, the three dimensional anatomical angle according to sweep shot in ice hockey. The subjects of this study were five professional ice hockey players. The reflective makers were attached on anatomical boundary line of body. For the movement analysis three dimensional cinematographical method(APAS) was used and for the calculation of the kinematic variables a self developed program was used with the LabVIEW 6.1 graphical programming(Johnson, 1999) program. By using Eular's equations the three dimensional anatomical Cardan angles of the joint and ice hockey stick were defined. 1. In three dimensional linear velocity of blade the Y axis showed maximum linear velocity almost impact, the X axis(horizontal direction) and the Z axis(vertical direction) maximum linear velocity of blade did not show at impact but after impact this will resulted influence upon hitting puck. 2. The resultant linear velocity of each segment of right arm showed maximum resultant linear velocity at impact. It could be suggest that the right arm swing patterns is kind of push-like movement. therefore the upper arm is the most important role in the right arm swing. 3. The three dimensional anatomical angular displacement of trunk in flexion-extension showed flexion all around the wrist shot. The angular displacement of trunk in internal-external rotation showed internal rotation angle at the backswing top and and increased the angle after the impact. while there is no significant adduction-abduction. 4. The three dimensional anatomical angular displacement of trunk showed most important role in wrist shot. and is follwed by shoulder joints, in addition the movement of elbow/wrist joints showed least to the shot. this study result showed upperlimb of left is more important role than upperlimb of right.

• 한국항해학회지
• /
• 제12권2호
• /
• pp.23-32
• /
• 1988

This paper offers a method of magnetic compass adjustment for the vessel alongside the wharf using newly designed magnetic north former, which makes the same magnetic field-change as the turning vessel does. The characteristics of the magnetic north former was examined by observing the deviation curves of the magnetic compass installed on the compass deviascop at laboratory. The magnetic north former consists of A and B arms which hold the permanent bar magnets at the both ends of each arm. The arm is to rotae in the horizontal plane about the vertical axis fixed at the center boss of the magnetic compass and it is to compensate the horizontal plane about the vertical axis fixed at the center boss of the magnetic compass and it is to compensate the horizontal component of the earth's field. The B arm makes the artificial magnetic north around the magnetic compass for every ship's heading. The results of investigation are summarized as follows ; 1. The observation and correction of magnetic compass deviation can be done without swinging the ship, of the effect of D coefficient is negligible. 2. The residual deviation curve of the magnetic compass depends on the accuracy of deduced value of ship's multplier($\lambda$). 3. The errors due to the inaccuracy of deduced value of ship's multiplier change in the same way as the B and C coefficient do.

• 한국해양공학회지
• /
• 제27권2호
• /
• pp.100-106
• /
• 2013

This paper deals with the design method for a small waterproof 4-axis robot arm. An extensive analysis was performed on the torque applied to the robot joint as a result of the payload, as well as the design of the joint actuator capacity. In addition, a study was undertaken on the design of a waterproof joint actuator that works at depths greater than 10 m and the wiring design for a small waterproof connector to avoid obstructing the robot motion. Finally, a finite element method simulation was carried out to analyze the strength of the designed robot arm link, and its stability was verified through a simulation test.

• 한국정보통신학회:학술대회논문집
• /
• 한국정보통신학회 2019년도 춘계학술대회
• /
• pp.436-438
• /
• 2019

에어하키 로봇은 머신 비전 시스템으로 하키 공을 카메라를 통해 인식하여 사용자와 플레이를 할 수 있다. 하키 공의 위치 감지는 OpenCV 라이브러리를 사용하여 공의 색 정보를 이용하여 인식하게 구현하였다. 하키 공의 위치를 감지하고 또한 그 궤적을 예측하여 결과를 ARM Cortex-M 보드로 전송한다. ARM Cortex-M보드는 2축 직교 로봇을 제어하여 에어 하키 경기를 진행한다. 에어 하키 로봇의 전략에 따라 수비, 공격, 수비과 공격 모드로 동작시킬 수 있다. 본 논문에서는 비전 시스템 개발과 궤적 예측 시스템에 관해 기술하고 에어 하키 경기를 진행하는 2축 직교 로봇을 제어하는 새로운 방법을 제시한다.

• Wind and Structures
• /
• 제35권2호
• /
• pp.93-108
• /
• 2022

Steel tubular towers are commonly used in UHV and long crossing transmission lines. By considering effects of the model scale, the solidity ratio and the ratio of the mean width to the mean height, wind tunnel tests under different wind speeds on twenty tubular steel tower body models and twenty-six tubular steel cross-arm models were completed. Drag coefficients and shielding factors of the experimental tower body models and cross-arm models in wind directional axis for typical skewed angles were obtained. The influence of the lift forces on the skewed wind load factors of tubular steel tower bodies was evaluated. The skewed wind load factors, the wind load distribution factors in transversal and longitudinal direction were calculated for the tubular tower body models and cross-arm models, respectively. Fitting expressions for the skewed wind load factors of tubular steel bodies and cross-arms were determined through nonlinear fitting analysis. Parameters for skewed wind loads determined by wind tunnel tests were compared with the regulations in applicable standards. Suggestions on the drag coefficients, the skewed wind load factors and the wind load distribution factors were proposed for tubular steel transmission towers.

• 제어로봇시스템학회논문지
• /
• 제20권8호
• /
• pp.875-881
• /
• 2014

The redundancy resolution of the seven DOF (Degree of Freedom) upper limb exoskeleton is key to the synchronous motion between a robot and a human user. According to the seven DOF human arm model, positioning and orientating the wrist can be completed by multiple arm configurations that results in the non-unique solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and its effect on the redundancy resolution of the seven DOF human arm model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing two cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid of the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each of two consecutive points along the task space trajectory. The contribution of each criterion on the redundancy was verified by the post processing of experimental data collected with a motion capture system. Results indicate that the bimodal redundancy resolution approach improved the accuracy of the predicted swivel angle. Statistical testing of the dynamic constraint contribution shows that under moderate speeds and no load, the dynamic component of the human arm is not dominant, and it is enough to resolve the redundancy without dynamic constraint for the realtime application.

• 한국전자통신학회논문지
• /
• 제17권5호
• /
• pp.933-940
• /
• 2022

2차원 영상 센서를 이용하여 조종자의 3차원 손 위치를 인식하고 이를 기반으로 원격으로 6축 로봇팔을 제어하는 시스템을 개발하였다. 시스템은 물체의 영상정보를 인식하는 2차원 영상 센서 모듈, 영상정보를 로봇팔 제어 명령어로 전환하는 알고리즘, 자체 제작한 6축 로봇팔 및 제어 시스템으로 구성된다. 영상 센서는 조종자가 착용한 장갑의 모양과 색을 인지하여 크기 및 위치정보를 출력하게 되며, 본 연구에서는 이러한 위치 및 물체를 둘러싼 크기 정보를 이용하여 로봇 선단의 속도를 제어한다. 연구 방법의 검증은 자체 제작된 6축 로봇으로 실행하였으며, 조종자의 손동작 조종에 의한 실험을 통해 제안한 영상정보 제어 및 로봇 선단 제어 방법이 성공적으로 동작함을 확인하였다.

• 한국전자통신학회논문지
• /
• 제7권5호
• /
• pp.1139-1144
• /
• 2012

산업용 로봇의 하중률은 1대 10에서 1대 30이고, 3대 1의 하중률을 가지는 인간과 비교하여 매우 낮다. 다음 세대 로봇의 목표 중에 하나는 하중률이 될 것이고, 이것은 가벼운 로봇을 개발함으로 가능할 것이다. 2관절 유연한 로봇팔은 관절 축을 회전할 때 진동이 발생한다. 본 논문에서는 유연한 로봇팔의 진동 동력학은 오일러 베르누이의 보 이론과 라그랑지 방정식을 이용하여 구하였고, $\dot{D}-2C$가 skew symmetric이다는 사실을 사용하여, 계산량을 줄이는 리아프노프 안정도 이론을 이용한 단순한 구조의 새로운 제어기를 제안한다. 2링크 유연한 로봇에 대한 확정적인 적응제어 법칙을 제안하고, 시뮬레이션을 통하여 그 타당성을 보인다.

• Wind and Structures
• /
• 제28권3호
• /
• pp.191-201
• /
• 2019

In this paper, the aerodynamic analysis of a vertical axis wind turbine was carried out by CFD approach to optimize the turbine performance. To perform numerical simulation, SST-Transition turbulence model was used, which demonstrated more precise results compared to non-transition models. A parametric study was conducted to optimize the VAWT performance based on the selected model. The investigation of pitch angle changes showed that the highest power produced by the turbine occurs at $2^{\circ}$ angle. Considering the effect of the rotor's arm junction to the airfoil showed that by increasing the distance of the junction from the edge of the airfoil from 25 cm to 40 cm, the power of the turbine increases by 60%. However, further increase in this distance results in power decrease. Based on the proposed numerical model, a case study was conducted to consider the installation of four VAWTs in the southwest corner of the medical science building at TMU campus with a height of 42m. The results of the simulation showed that 8.27 MWh energy is obtainable annually.