• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1581-1584
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• 1997

This paper poropsed an efficient optimization technuque to resolve redundancy and a trajectory planning for a high precision control using proposed optimization technique. The proposed techniqus is the joint disturbance torque optimizatioin considering redundancy in the joing servo control. Joint disturbance torque is not unknown it is described dynamic equation ignored friction and viscosity. The proposed technique is used the dynamic equatiion included the joint disturbance torque characteristics. Numerical example of 3 joint planar redundant robot manipulator is simulated. In the 2-norm minimization of joint disturbance torque we compared pseudoinverse local optimization with proposed technique, and the results showed better the proposed technique. So the proposed technique can be highly precision controlled redundant robot manipulators in the joint servo control.

• 대한정형도수물리치료학회지
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• 제14권1호
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• pp.48-60
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• 2008

Purpose : The purpose of this study was to compare the effects of Joing Mobilization and Group back Pain Exercise Program on the disability level and the pain of flexibility and the back muscle strength in the hearing impairment patients with Low back pain. Methods : The subjects of this study were 12 patients, 8 males and females. They visited clinic for physical treatment within 6 months after onset of low back pain. One group was applied with Joing Mobilization and other group was with Group back Pain Exercise Program. The patient were treated special program 3 times session weekly. And treatment 2 times session was 15min with physiotherapy weekly. The muscle strength was measured by Cybex 660, the level of disability by Oswestry low back pain disability scale, the intensity of pain by visual analogue scale (VAS). The data was analysed by paired T-test and independent T-test. Results : The results of this study were summarized as follow : 1. The Oswestry disability score of experimental and control group were significantly decreased and there was no difference in the Oswestry disability score change between joint mobilization group and back pain exercise group. 2. The pains in anterior, postrior, lift lateral and right lateral bending and in rotation of back pain exercise group were significantly increased compared with those of joint mobilization group. 3. The flexors and extensors peak torque of back pain exercise group were significantly increased at test velocities $30^{\circ}$/sec, $60^{\circ}$/sec compared with those of the joint mobilization group. There was no significant difference in extensors and flexors peak torque at $30^{\circ}$/sec, $60^{\circ}$/sec between two group. The results showed that the back pain exercise group were effective in decreasing disability score and pain of trunk activity, increasing trunk extension and flexion peak torque. Conclusion : It is suggested theat the back pain exercise program could be an essential factor for the effective intervension to the hearing impairment patients suffere from low back pain.

• 대한기계학회논문집
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• 제15권2호
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• pp.515-522
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• 1991

Determining the motion using optimal technique about traveling time and trajectory planning has been studied often in recent years, but the study of determining the optimal robot dimensions is rare, the authors attempt to find out the least driving torques and energy as the optimization of link length ratio referred to 2R SCARA and 3R robot manipulators. For the given linear path with triangular velocity profile, the inverse kinematic and dynamic problems are examined in order to lead into solution of problem, which is suggested for optimal design of link lengths. Accordingly, optimal link length ratio is obtained with respect to each case.