• 한국정밀공학회지
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• 제20권12호
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• pp.80-88
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• 2003

We propose a new technique to design an unmaned integrating control system based-on Windows XP version off-Line Programming System which can simulate a dynamic model of robot manipulator in three dimensions graphics space in this paper. The robot with 4 and 6 axes modeled SM5 and AM1 respectively were adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed off-line program. The interface between users and the off$.$line programming system in the Windows XP's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by silicon Graphics, Inc. were utilized for three dimensions graphics.

• 한국산업융합학회 논문집
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• 제20권1호
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• pp.49-55
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• 2017

This study proposes a new approach to Control and trajectory generation of a 8 DOF human robot arm with computational complexity and singularity problem. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of research, we propose an analytical kinematics algorithm for a 8 DOF bipped dual robot arm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regarding to the end-effector pose. Performance of the proposed algorithm was verified by simulation test with various conditions. It has been verified that the trajectory planning using this algorithm.

• 한국운동역학회지
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• 제33권3호
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• pp.85-93
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• 2023

Objective: This study examined differences in joint kinematics and movement variability of lower extremity between adolescent athletes with and without lateral ankle sprain (LAS) history during drop vertical jump. Method: Fourteen adolescent athletes with LAS history and 14 controls participated in this study. The independent variable was group while dependent variables were 3D joint kinematics and movement variability of hip, knee, and ankle joint. Ensemble curve analyses were conducted to identify differences in movement strategies between two groups. Results: The LAS group showed that greater eversion during jump phase compared with the control group. Additionally, less movement variability was found in the LAS group during the pre-landing and jump phases in ankle and hip joints compared with the control group. Conclusion: The LAS group may adapt the environmental constraints by reducing the movement variability in ankle and hip joints. However, training programs focusing on recovery of ankle function should be emphasized after LAS because excessive pronation for prevention of LAS during the jump phase may result in reduced performance.

• 대한인간공학회지
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• 제16권3호
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• pp.11-21
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• 1997

The purpose of this study is to obtain 3-dimensional isocomfort workspace using the robot kinematics, which is based on perceived discomfort in varying postures for manipulating four types of controls. Fifteen healthy male subjects participated in the experiment where their perceived discomfort in the given postures was measured, in which L32 orthogonal array was adopted. The shoulder flexion and adduction-abduction, elbow flexion, types of controls, and right/left hands were selected as experimental variables. The results showed that the shoulder flexion and adduction-abduction, elbow flexion, and types of controls significantly affected the perceived discomfort at .alpha. =0.01. Depending upon the types of control used, regression equations predicting perceived dis- comfort and three dimensional isocomfort workspace were suggested based on the experiemntal cata. Using the equations, driver's isocomfort workspace in his/her cabin for pushing operation was illustrated, in which the robot kinematics was employed to describe the translational relationships between the upper arm and the lower arm/hand. It was ecpected that isocomfort workspace could be used as a valuable guideline to design workplaces ergonomically.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.83.4-83
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• 2001

The paper presents a new closed-form, not a polynomial-form, solution of the direct kinematics of the 3-6 (Stewart-Gough) Platform. Many research works have presented a single high-order polynomial equation of the direct kinematics. However the polynomial equation causes potential problems such as complicated formulation procedures and discrimination of the actual solution from all roots, which results in time-consuming task and heavy computational burden. Thus, to overcome these problems, we use a new formulation approach, based on the Tetrahedron Approach, to derive easily a closed-form nonlinear equation of the direct kinematics and use not the Newton-Raphson method, but the Secant method to obtain quickly the solution from ...

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2000년도 춘계학술대회논문집
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• pp.144-150
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• 2000

In this paper, we introduce a modified six-degrees-of-freedom parallel-link manipulator, which will be applied to the human vibration experiments. We analyze the inverse kinematics and workspace of this manipulator and comprehend the characteristics of kinematics analyzed. Additionally, solutions of forward kinematics are obtained through the iterative Newton-Raphson method known as one of the most used numerical analysis. Finally, dynamic equation of the manipulator is derived in closed form through the Newton-Euler approach, which will be used for the development of control software.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.576-579
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• 2002

This paper presents the jacobian analysis of new type Casing Oscillator using the inverse kinematics, and to search for it's singularities through the jacobian analysis. All parallel manipulator have some singularities in workspace or it's outside workspace. Singularities were cleared by many other study of parallel manipulator f3r that reason recent publication of device control. In this paper defined that singularities of new file of Casing Oscillator and, to show it's graph. Finally this paper will be used for a practical example for construction spot, aviation simulator, vehicles simulator, military equipment etc.

• Journal of Multimedia Information System
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• 제8권2호
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• pp.121-130
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• 2021

Foot bionic robot could be supported and towed through a series of discrete footholds and be adapted to rugged terrain through attitude adjustment. The vibration isolation of the robot could decouple the fuselage from foot-end trajectories, thus, the robot walked smoothly even if in a significant terrain. The gait programming and foot end trajectory algorithm were simulated. The quadruped robot of parallel five linkages with eight degrees of freedom were tested. The kinematics model of the robot was established by setting the corresponding coordinate system. The forward and inverse kinematics of both supporting and swinging legs were analyzed, and the angle function of single leg driving joint was obtained. The trajectory planning of both supporting and swinging phases was carried out, based on the control strategy of compound cycloid foot-end trajectory planning algorithm with zero impact. The single leg was simulated in Matlab with the established kinematic model. Finally, the walking mode of the robot was studied according to bionics principles. The diagonal gait was simulated and verified through the foot-end trajectory and the kinematics.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.107.1-107
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• 2002

$\textbullet$ Robot fingers $\textbullet$ Kinematics and dynamics of robot fingers $\textbullet$ 3 bar linkages $\textbullet$ Microprocessor control1er $\textbullet$ Serial communication $\textbullet$ Simulation Studies

• 로봇학회논문지
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• 제19권2호
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• pp.169-175
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• 2024

In this study, we developed control system for stable teleoperation of supermicrosurgical robot platform. The supermicrosurgical robot platform is designed to perform precise anastomosis with micro vessels ranging from 0.3 mm to 0.7 mm. The robotic assistance could help more precise manipulation then manual surgery with the help of motion scaling and tremor filtering. However, since the robotic system could cause several vulnerabilities, control system for stable teleoperation should be preceded. Therefore, we first designed control system including inverse kinematics solver, clutch error interpolator and finite state machine. The inverse kinematics solver was designed to minimized inertial motion of the manipulator and tested by applying orientational motion. To make robot slowly converges to the leader's orientation when orientational error was occurred during clutch, the SLERP was used to interpolate the error. Since synchronized behavior of two manipulators and independent behavior of manipulator both exist, two layered finite state machines were designed. Finally, the control system was evaluated by experiment and showed intended behavior, while maintaining low pose error.