• Proceedings of the KSME Conference
• /
• 2000.04a
• /
• pp.548-555
• /
• 2000

The dynamic walking and the inverse dynamics of the biped walking robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian coordinates, then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot, the holonomic constraints are added or deleted on the equations of motion. The number of these constraints can be changed by types of walking pattern with three modes. In order for the dynamic walking to be stabilizable, optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

• Journal of Korean Association for Spatial Structures
• /
• v.4 no.1 s.11
• /
• pp.39-48
• /
• 2004

Generally, a structural system with large inextensional deformations, or in other words, non-strained deformation is called as 'Unstable Structure', Truss-linked structures, cable structures, membrane structures and movable structures as foldable space structures etc, are included in this category. In this paper, a dynamic analysis method for unstable structural systems is presented. Governing equations for dynamic analysis of unstable truss structures with inextensional displacements are derived. Because of singularity of inverse matrixin in practical analysis of unstable structure, the generalized inverse matrix is Introduced to resolve the singular problem. Also, the RREF technique is used to get the inextensional displacement mode. Two unstable truss structures are analyzed by using presented method. Damping is not considered. From the given results, it is known that proposed method is useful to figure out the dynamic behavior of unstable truss structures.

• Journal of the Korean Society for Precision Engineering
• /
• v.12 no.6
• /
• pp.105-111
• /
• 1995

The inverse dynamic equations for 5 link robot including a closed chain have been derived. The closed chain is virtually cut open, and the kinematics and dynamics of the virtual open chain robot are analyzed. The constraints are applied to the virtually cut joints by the Jacobian matrix which represents the configuration of the closed chain. The topology of tree structrued open chain robot is described by a FATHER array. The FATHER array of a link indicates the link tha tis connected in the direction of base link. Based on the inverse dynamic equations, the torque sensitivity models of the 5 link robot have been developed. The sensitivity models characterize the sensitivity of the driving torque with respect to the link parameters. All the procedures are illustrated through the 2 link robot.

• Bulletin of the Korean Mathematical Society
• /
• v.53 no.2
• /
• pp.541-550
• /
• 2016

In this paper, we introduce a quasi-Banach algebra of infinite matrices, which is inverse-closed in the Banach algebra B(${\ell}^2$) of all bounded operators on ${\ell}^2$.

• Journal of applied mathematics & informatics
• /
• v.16 no.1_2
• /
• pp.207-220
• /
• 2004

Necessary and sufficient conditions are given for the regularity of block triangular fuzzy matrices. This leads to characterization of idem-potency of a class of triangular Toeplitz matrices. As an application, the existence of group inverse of a block triangular fuzzy matrix is discussed. Equivalent conditions for a regular block triangular fuzzy matrix to be expressed as a sum of regular block fuzzy matrices is derived. Further, fuzzy relational equations consistency is studied.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2001.12a
• /
• pp.137-140
• /
• 2001

In this paper, we design 75(Takagi-Sugeno) fuzzy controllers for the systems that can be represented by the 75 fuzzy model. We use inverse optimal approach in which the cost function is determined later than the Lyapunov function and its corresponding control input satisfying the design requirements such as stability and decay rate. The obtained design procedure is in the form of solving LMI(Linear Matrix Inequalities), thus very efficient in practice.

• Communications of the Korean Mathematical Society
• /
• v.28 no.2
• /
• pp.407-418
• /
• 2013

This paper studies a computational iterative method to find accurate approximations for the inverse of real or complex matrices. The analysis of convergence reveals that the method reaches seventh-order convergence. Numerical results including the comparison with different existing methods in the literature will also be considered to manifest its superiority in different types of problems.

• 제어로봇시스템학회:학술대회논문집
• /
• 1989.10a
• /
• pp.124-126
• /
• 1989

Inverse kinematic problem is a crucial point for robot manipulator control. In this paper, to implement the Jacobian control technique we used the Hopfield(Tank)'s neural network. The states of neurons represent joint veocities, and the connection weights are determined from the current value of the Jacobian matrix. The network energy function is constructed so that its minimum corresponds to the minimum least square error. At each sampling time, connection weights and neuron states are updated according to current joint position. Inverse kinematic solution to the planar redundant manipulator is solved by computer simulation.

• Proceedings of the IEEK Conference
• /
• 1999.06a
• /
• pp.655-658
• /
• 1999

In this paper we design a key-frame editor for 3D sign-language animation using the inverse kinematics. Using the editor, we can calculate the joint angles for two arms automatically. Up to now we have computed the values of the joint angles using the forward kinematics, where we have determined the values heuristically based on our experiences. To overcome the drawbacks, we employ the arm transformation matrix of the inverse kinematics. Experimental results show a possibility that the proposed method could be used for making up the sign-language communication dictionaries.

• Journal of the Korean Mathematical Society
• /
• v.59 no.5
• /
• pp.891-909
• /
• 2022

The main objective of this paper is to develop a concrete inverse formula of the system induced by the fourth-order finite difference method for two-point boundary value problems with Robin boundary conditions. This inverse formula facilitates to make a fast algorithm for solving the problems. Our numerical results show the efficiency and accuracy of the proposed method, which is implemented by the Thomas algorithm.