• 대한기계학회논문집A
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• 제20권12호
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• pp.3741-3747
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• 1996

This paper presents a method for the inverse dynamic anlaysis of mechanical systems. Actuating forces(or torques) depending on the driving constraints are analyzed in the relative coordinate space using the velocity transformation technique. A systematic method to compose the inverse velocity transformation matrix, which is used to determine the joint reaction forces, is proposed. Two examples are taken to verify the method developed here.

• 대한기계학회논문집A
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• 제21권2호
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• pp.352-360
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• 1997

An inverse dynamic procedure for spatial multibody systems containing flexible bodies is developed in the relative joint coordinate space. Constraint acceleration equations are derived in terms of relative coordinates using the velocity transformation technique. An inverse velocity transformation operator, which transforms the Cartesian velocities to the relative velocities, is derived systematically corresponding to the types of kinematic joints connecting the bodies and the system reference matrix. Using the resulting matrix, the joint reaction forces and moments are analyzed in the Cartesian coordinate space. The formulation is illustrated by means of two numerical examples.

• Journal of Mechanical Science and Technology
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• 제19권8호
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• pp.1611-1620
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• 2005

This paper shows the use of wavelet transformation combined with inverse acoustics to reconstruct the surface velocity of a noise source. This approach uses the boundary element analysis based on the measured sound pressure at a set of field points, the Helmholtz integral equations and wavelet transformation for reconstructing the normal surface velocity field. The reconstructed field can be diverged due to the small measurement errors in the case of nearfield acoustic holography (NAH) using an inverse boundary element method. In order to avoid this instability in the inverse problem, the reconstruction process should include some form of regularization for enhancing the resolution of source images. The usual method of regularization has been the truncation of wave vectors associated with small singular values, although the order of an optimal truncation is difficult to determine. In this paper, a wavelet transformation is applied to reduce the computation time for inverse acoustics and to enhance the reconstructed vibration field. The computational speed-up is achieved, with solution time being reduced to $14.5\%$.

• Journal of Mechanical Science and Technology
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• 제15권6호
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• pp.693-698
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• 2001

The analysis of actuating forces (or torques) and joint reaction forces (or moments) are essential to determine the capacity of actuators, to control the system and to design the components. This paper presents an inverse dynamic analysis algorithm for flexible multibody systems with closed-loops in the relative joint coordinate space. The joint reaction forces are analyzed in Cartesian coordinate space using the inverse velocity transformation technique. The joint coordinates and the deformation modal coordinates are used as the generalized coordinates of a flexible multibody system. The algorithm is verified through the analysis of a slider-crank mechanism.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.402-405
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• 1997

Based on the relative velocity method and the inverse kinematics theory, this paper presents an automated system for designing and manufacturing of an open type cylindrical cam with a rotating follower(OCRF). In the first part, this paper defines the relative velocity method for OCRF and calculates the contact point by using the coordinate transformation technique. In the second part, it generates NC Code of a CNC machine center for inverse kinematics by using the cutter location and the cutter orientation of OCRF. Finally, the automated CADICAM program developed in the paper shows an example on the desip and manufacture process of OCRF.

• 한국정밀공학회지
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• 제17권9호
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• pp.133-144
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• 2000

The dynamic walking planning and the inverse dynamics of the biped 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 corrdinates 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 patterns 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.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.548-555
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• 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.

• 한국통신학회논문지
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• 제19권5호
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• pp.796-804
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• 1994

본 논문은 Inverse SAR를 이용하여 속도를 모르는 움직이는 물체의 영상 이미지를 얻는 이미징 알고리즘을 제시하였고 실제 데이터를 알고리즘에 적용되었다. 실제 데이터는 stepped-frequency 변조된 레이더 신호를 송신하였고 수신된 데이터는 sampling rate이 충분하지 않으나 reference 신호를 mixing 시켜 unaliased 되게 만든 후 interpolation 에 의해서 해결하였다. 알고리즘을 적용시키는데 요구되는 물체의 속도는 subaperture processing 방법에 의해서 얻어졌으며 얻어진 속도에 의해서 squint-mode SAR geometry 로 변환한 후 최근에 제시된 approximation 이 없는 이미징 알고리즘을 사용하여 최종적으로 이미지를 얻게 되었다. 또한 ISAR가 데이터를 송수신 하는 동안 물체의 속도가 변하는 경우 이것을 보상하는 방법을 제시하였다.

• 한국정밀공학회지
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• 제19권5호
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• pp.118-125
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• 2002

The previous kinematic analysis of wheeled mobile robots(WMRs) is performed in an ad-hoc manner, while those of the robot manipulators are done in a consistent way using the coordinate system assignment and the homogeneous transformation matrix. This paper shows why the method for the robot manipulators cannot be used directly to the WMRs and proposes the method for the WMRs, which contains modeling the wheel with the Sheth-Uicker notation and the homogeneous transformation. The proposed method enable us to model the velocity kinematics of the WMRs in a consistent way. As an implementation of the proposed method, the Jacobian matrices were obtained for conventional steered wheel and non-steered wheel respectively and the forward and inverse velocity kinematic solutions were calculated fur a tricycle typed WMR. We hope that our proposed method comes to hold an equivalent roles for WMRs, as that of the manipulators does for the robot manipulators.

• 대한기계학회논문집A
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• 제24권6호
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• pp.1470-1478
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• 2000

Analysis of actuating forces and joint reaction forces are essential to determine the capacity of actuators, to control the system and to design the components. This paper presents an algorithm tha t calculates actuating forces(or torques) depending on the various driving types to produce a given system motion. The joint reaction forces(or torques) of multibody systems with closed-loops are analyzed in the Cartesian coordinate space using the inverse velocity transformation technique. Two numerical examples were carried out to verify the algorithm proposed.