• 한국산업융합학회 논문집
• /
• 제24권6_2호
• /
• pp.953-959
• /
• 2021

In this paper, the numerical inverse kinematics analysis is presented for a collaborative robot with an offset wrist. Robot manipulators with offset wrist are widely used in industrial applications, due to many advantages over those with wrist center and those with three parallel axes such as simple mechanical design, light weight, and so on. There may not exist a closed-form solution for a robot manipulator with offset wrist. A simple numerical method is applied to solve the inverse kinematics with offset wrist. Singularity is analyzed using Jacobian matrix and the numerical inverse kinematics algorithm is implemented on the real-time controller.

• International Journal of CAD/CAM
• /
• 제7권1호
• /
• pp.21-30
• /
• 2007

The inverse offset method (IOM) is widely used for generating cutter paths from the point-based surface where the surface is characterised by a set of surface points rather than parametric polynomial surface equations. In the IOM, cutter path planning is carried out by specifying the grid sizes, called the step-forward and step-interval distances respectively in the forward and transverse cutting directions. The step-forward distance causes the chordal deviation and the step-forward distance produces the cusp. The chordal deviation and cusp are also functions of local surface slopes and curvatures. As the slopes and curvatures vary over the surface, different step-forward and step-interval distances are appropriate in different areas for obtaining the machined surface accurately and efficiently. In this paper, the chordal deviation and cusp height are calculated in consideration with the surface slopes and curvatures, and their combined effect is used to estimate the machined surface error. An adaptive grid generation algorithm is proposed, which enables the IOM to generate cutter paths adaptively using different step-forward and step-interval distances in different regions rather than constant step-forward and step-interval distances for entire surface.

• 대한기계학회논문집
• /
• 제18권6호
• /
• pp.1421-1429
• /
• 1994

An algorithm is developed for solving the inverse kinematic problem of a 6-degree-of-freedom robot with a wrist offset for which the closed form inverse solutions are not obtainable, but knowledge of one joint variable allows closed form solutions of the remaining joint variables. The algorithm does not require Forward Kinematics nor Jacobian but uses the implicit kinematic relationships between joint variables and the given hand position. An iterative back substitution method is used to solve the inversion and the optimal conditions of the convergence are incoporated. An example is given to illustrate the concepts, the solution procedure and its convergency.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2010년도 춘계학술대회 논문집
• /
• pp.363-364
• /
• 2010

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2004년도 ICEIC The International Conference on Electronics Informations and Communications
• /
• pp.263-268
• /
• 2004

The inverse kinematics problem is to find a set of joint variable values that will place the end effector of a robot manipulator into a given pose. Pieper has shown that a sufficient condition for a manipulator to have a closed form solution is that three adjacent joint axes intersects, hence the six axes robot with spherical wrist allows closed form solution. But many industrial robots have a non-spherical wrist to provide a stronger wrist configuration so that they can handle heavy payloads. Also, the use of a non-spherical wrist can result in a cheap and simple wrist arrangement than when all three axes intersect at a common point. In these cases, closed form solutions cannot be found. Therefore numerical technique must be used to solve the inverse kinematics equations. This paper proposes a new algorithm that can be used for finding inverse kinematics solution of the six axes robot with non-spherical wrist. Computer simulations are provided to prove the usefulness of our method.

• 대한전자공학회논문지SP
• /
• 제42권5호
• /
• pp.85-94
• /
• 2005

디지털 입력값과 이에 대응되는 CIEXYZ 삼 자극치 값에 대한 관계를 도출하는 기법인 디스플레이 특성화는 칼라 운영 시스템에서 정확한 색을 재현하는데 중요하다. 9개 채널 제조 응답 곡선으로부터 추정된 디스플레이 장치의 특성화는 기존 3개 채널의 계조 응답 곡선을 사용한 것 보다 성능이 향상된다. 하지만 9개 채널의 계조 응답 곡선을 사용한 디스플레이 장치의 특성화는 각각의 RGB값에 대응되는 CIEXYZ값이 분리되지 않기 때문에, 역 특성화 과정이 직접적으로 적용되지 않는다. 따라서 일반적인 경우 역 특성화 과정은 3차원 참조표를 사용하여 구현된다. 3차원 참조표를 역 특성화 과정에 적용할 경우, 결과의 정확도는 향상 되지만 많은 양의 메모리 공간과 다수의 측정 데이터가 필요한 단점이 있다. 그러므로 본 논문에서는 채널 의존적인 값의 모델링과 GOG(gain, offset gamma) 모델에 기반한 9개 채널의 역 변환 과정을 적용한 역 특성화 기법을 제안한다. 제안한 방법은 디스플레이 특성화의 정확도를 향상할 뿐 아니라 3차원 참조표 방법을 사용할 경우 요구되는 복잡도와 다수의 측정 데이터도 감소할 수 있다.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2000년도 추계학술대회 논문집
• /
• pp.224-228
• /
• 2000

In this paper, the kinematics of the new type of parallel manipulator is studied, and neural network is applied to solve the forward kinematics problem. The parallel manipulator, called a Stewart platform, has an easy and unique solution about the inverse kinematics, however the forward kinematics is difficult to get the solution because of the lack of an efficient algorithm due to its highly nonlinearity. This paper proposes the neural network scheme as an alternative Newton-Raphson method. The neural network is found to improve its accuracy by adjusting the offset of the result obtained.

• 한국인쇄학회지
• /
• 제26권1호
• /
• pp.51-64
• /
• 2008

In this paper, an experiment was done where the input(scanner, digital still camera) and monitor(CRT, LCD) device used the linear multiple regression and the GOG (Gain-Offset-Gamma) characterization model to perform a color transformation. Also to color conversion method of the digital printer it used the LUT(Look Up Table), 3dimension linear interpolation and a tetrahedron interpolation method. The results are as follows. From color reappearance of digital printing case of monitor, the XYZ which it converts in linear multiple regression of input device it multiplied the inverse matrix, and then it applies the inverse GOG model and after color converting the patch of the result most which showed color difference below 5 at monitor RGB value. Also, The XYZ which is transmitted from the case input device which is a printer it makes at LAB value to convert an extreme, when the LAB value which is converted calculating the CMY with the LUT and tetrahedral interpolations the color conversion which considers the black quantity was more accurate.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제15권8호
• /
• pp.2879-2899
• /
• 2021

The tone reservation (TR) scheme is an attractive method to reduce peak-to-average power ratio (PAPR) in the filter bank multicarrier with offset quadrature amplitude modulation (FBMC-OQAM) systems. However, the high PAPR of FBMC signal will severely degrades system performance. To address this issue, a cyclic shift based TR (CS-TR) scheme with embedding side information (SI) is proposed to reduce the PAPR of FBMC signals. At the transmitter, four candidate signals are first generated based on cyclic shift of the output of inverse discrete Fourier transform (IDFT), and the SI of the selected signal with minimum peak power among the four candidate signals is embedded in sparse symbols with quadrature phase-shift keying constellation. Then, the TR weighted by optimal scaling factor is employed to further reduce PAPR of the selected signal. At the receiver, a reliable SI detector is presented by determining the phase rotation of SI embedding symbols, and the transmitted data blocks can be correctly demodulated according to the detected SI. Simulation results show that the proposed scheme significantly outperforms the existing TR schemes in both PAPR reduction and bit error rate (BER) performances. In addition, the proposed scheme with detected SI can achieve the same BER performance compared to the one with perfect SI.

• 한국멀티미디어학회:학술대회논문집
• /
• 한국멀티미디어학회 2000년도 춘계학술발표논문집
• /
• pp.184-189
• /
• 2000

역 해프토닝의 성능을 향상시키려면 최적의 평활화마스크가 생성되어야하고, ？거의 평활화 마스크를 생성하기 위해서는 정확한 해프톤 셀 정보가 구해져야한다. 이에 본 논문에서는 퓨리에 공간에서 가우시안 보간법에 의해 구해진 피크위치를 이용해서 해프톤 셀 정보의 초기값을 설계하고 spatial 공간에서 셀크기, 각도 및 offset을 미세조정하면서 , 반복연산 (iteration )을 통한 해프톤 셀정보 추출방법을 제안한다. 제안한 방법으로 구한 해프톤 셀 정보를 이용하면 최적의 평활화 마스크를 만들 수 있으며 , 영상의 원점에서 멀리 떨어져 오차가 많이 누적되는 부분에서도 해프톤 셀 중심(seed pixel)을 정확하게 구하는 것을 실험을 통해 확인하였다. 제안한 방법은 평활화 마스크를 만들기 위한 정보로 사용될 뿐만 아니라 , 해프톤 셀단위의 연산이나, 퓨리에 공간의 피크 정보를 이용하여 텍스쳐 패턴을 찾는 분야등에 유용하게 활용할 수 있다.