• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1996년도 추계학술대회 학술발표 논문집
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• pp.166-171
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• 1996

Generally, when we control the robot, we should calculate exactly Inverse Kinematics. However, Inverse Kinematics calculation is complex and it takes much time for the manipulator to control in real-time. Therefore, the calculation of Inverse Kinematics can result in significant control delay in real time. In this paper, we will present that Inverse Kinematics can be calculated through Fuzzy Logic Mapping, Based on an exact solution through fuzzy reasoning instead of Inverse Kinematics calculation Also, the result provides sufficient precision and transient tracking error can be controlled based on a fuzzy adaptive scheme proposed in this paper. Based on the Denavit-Hartenberg parameters specification, after the Jacobian matrix of arbitrary manipulator is calculated, we will construct Fuzzy Inverse Kinematics Mapping(FIKM) using fuzzy logic and represent a good control efficiency through simulation of 2-DOF manipulator.

• 한국지능시스템학회:학술대회논문집
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• 한국지능시스템학회 2007년도 추계학술대회 학술발표 논문집
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• pp.159-162
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• 2007

The inverse kinematics problem in robotics is an essential work for grasping and manipulation tasks by robotic and humanoid hands. In this paper, an intelligent neural learning scheme for solving such inverse kinematics of humanoid fingers is presented. Specifically, a multi-layered neural network is utilized for effective inverse kinematics, where a dynamic neural learning algorithm is employed. Also, a bio-mimetic feature of general human fingers is incorporated to the learning scheme. The usefulness of the proposed approach is verified by simulations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.551-556
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• 1991

This paper deal with the solution of kinematics and inverse kinematics of industrial FANUC robot by the bisection method with IBM PC 386. The inverse kinematics of FANUC robot cannot be solved by the algebraical method, because arm matrix T$_{6}$ is very complex and 6-joint angles are associated with the position and the approach of end-effector. Instead we found other 5-joint angle by an algebraical method after finding .theta.$_{4}$ value by a bisection method.d.

• 제어로봇시스템학회논문지
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• 제9권12호
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• pp.1026-1032
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• 2003

A biped walking robot which is developed as a platform for researching walking algorithm is briefly introduced. The developed walking robot has 6 degrees of freedom per one leg. The origins of the last three axis do not intersect at a point, so the kinematic analysis is cubmersome with the conventional method. In the former version of the robot, Jacobian-based inverse kinematics method is used. However, the Jacobian-based inverse kinematics method has drawbacks for the application in which knee is fully extended such as stair-case walking. The reason far that is the Jacobian becomes ill-conditioned near the singular points and the method is not able to give adequate solutions. So, a method for giving a closed-form inverse kinematics solution is proposed. The proposed method is based on careful consideration of the kinematic structure of the biped walking robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.557-562
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• 1991

In this paper, we present new methods for solving the inverse kinematics associated with 6 degree of freedoms manipulator by the numerical method. This method will be based on tracking stability of special nonlinear dynamical systems, and differs from the typical techniques based by the Newton-Gauss or Newton-Raphson method for solving nonlinear equations. This simulation results show that the new method is solving the inverse kinematics of PUMA 560 without the derivative of a given task space trajectories.

• 대한기계학회논문집A
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• 제32권2호
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• pp.202-208
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• 2008

A 6 DOF Multi axis simulation table (MAST) is used to perform vibration and fatigue tests for parts or assemblies of automobiles, aircraft, or other systems. It consists of a table and 6 linear actuators. For its attitude control, we have to adjust the lengths of 6 actuators properly. The system is essentially a parallel mechanism. Three actuators are connected to the table directly and other three actuators are connected indirectly. Because of these, the MAST shows also a serial mechanism#s property: the inverse kinematics is more complicated than a pure parallel mechanism and each actuator can operate independently. The authors have performed a kinematics analysis of the 6 DOF MAST. We have presented an analytical and a numerical solution for the inverse and forward kinematics, and we have verified the solutions by a 3D CAD software.

• 한국지능시스템학회논문지
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• 제17권7호
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• pp.862-868
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• 2007

일반적으로 인간손에 있는 검지 손가락의 평면운동은 3개의 관절운동에 의해 이루어진다. 이러한 운동을 위해서는 기본적으로 역기구학 문제를 풀어야 하는데, 이것은 로봇 손을 이용한 파지나 조작행위에 있어서 필수적이다. 따라서 본 논문에서는 이러한 로봇 손가락의 역기구학 문제를 지능적으로 해결할 수 있는 뉴럴 러닝에 기반한 방법을 제안하고자 한다. 제안된 방법은 뉴럴 러닝에 있어서 동적인 학습율을 적용함으로써 보다 빠른 학습이 가능하고, 생체모방에 근거한 인간 손가락의 운동특성을 고려하는 것이 특징이다. 제안된 방법의 유용성을 입증하기 위하여 시뮬레이션을 수행한다.

• International Journal of Control, Automation, and Systems
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• 제4권1호
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• pp.17-29
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• 2006

A novel inverse kinematics solution based on the back propagation neural network (NN) for redundant manipulators is developed for online obstacles avoidance. A laser transducer at the end-effctor is used for online planning the trajectory. Since the inverse kinematics in the present problem has infinite number of joint angle vectors, a fuzzy reasoning system is designed to generate an approximate value for that vector. This vector is fed into the NN as a hint input vector rather than as a training vector to guide the output of the NN. Simulations are implemented on both three- and four-link redundant planar manipulators to show the effectiveness of the proposed position control system.

• 제어로봇시스템학회논문지
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• 제3권5호
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• pp.469-475
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• 1997

A method for solving the inverse kinematic problem of reclaimer is presented in this paper. The reclaimers in the raw yard are being used to dig raws and transfer them to the blast furnaces. The kinematic configuration of the reclaimer is different from that of commercially available robots, because it has a rotating disk with several buckets at the end of the boom to dig raws. The reclaimer has a redundancy due to the rotating disk : the degrees of freedom are greater than the number of forward kinematic equations. A plane equation in the 3-dimensional space is determined by using several points adjacent to the reclaiming point of the raw ores pile. A constraint is obtained from the relation ship of the plane equation and trajectories of the bucket of the reclaimer. Finally, a solution of the inverse kinematics of the reclaimer is determined by a numerical method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.254-259
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• 1992

In this paper, we propose an optimal method for the tracking a trajectory of the end-effector of flexible robot arms with multiple joints. The proposed method finds joint trajectories and joint torques necessary to produce the desired end-effector motion of flexible manipulator. In inverse kinematics, optimized joint trajectories are computed from elastic equations. In inverse dynamics, joint torques are obtained from the joint equations by using the optimized joint trajectories. The equations of motion using finite element method and virtual work principle are employed. Optimal control is applied to optimize joint trajectories which are computed in inverse kinematics. The simulation of flexible planner manipulator is presented.