• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.565-566
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• 2012

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.69-72
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• 1996

This paper considers a global resolution of kinematic redundancy under inequality constraints as a constrained optimal control. In this formulation, joint limits and obstacles are regarded as state variable inequality constraints, and joint velocity limits as control variable inequality constraints. Necessary and sufficient conditions are derived by using Pontryagin's minimum principle and penalty function method. These conditions leads to a two-point boundary-value problem (TPBVP) with natural, periodic and inequality boundary conditions. In order to solve the TPBVP and to find a global minimum, a numerical algorithm, named two-stage algorithm, is presented. Given initial joint pose, the first stage finds the optimal joint trajectory and its corresponding minimum performance cost. The second stage searches for the optimal initial joint pose with globally minimum cost in the self-motion manifold. The effectiveness of the proposed algorithm is demonstrated through a simulation with a 3-dof planar redundant manipulator.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.11
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• pp.943-951
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• 2003

A strategy for fault-tolerant gaits of autonomous legged robots is proposed. A legged robot is considered to be fault tolerant with respect to a given failure if it is guaranteed to be capable of walking maintaining its static stability after the occurrence of the failure. The failure concerned in this paper is a locked joint failure for which a joint in a leg cannot move and is locked in place. If a failed joint is locked, the workspace of the resulting leg is constrained, but legged robots have fault tolerance capability to continue static walking. An algorithm for generating fault-tolerant gaits is described and, especially, periodic gaits are presented for forward walking of a hexapod robot with a locked joint failure. The leg sequence and the formula of the stride length are analytically driven based on gait study and robot kinematics. The transition procedure from a normal gait to the proposed fault-tolerant gait is shown to demonstrate the applicability of the proposed scheme.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.1
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• pp.271-276
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• 1995

This paper presents a systematic method for the dynamic analysis of flexible mechanical systems containing closed kinematic loops. Kinematics between pairs of contiguous flexible bodies is described with the joint coordinates and the deformation modal coordinates. The cut-joint constraint equations associated with the closed kinematic loops are derived, simply using the geometric conditions. The equations of motions are initially written in terms of the joint and modal coordinates using the velocity transformation technique. Lagrange multipliers associated with the cut-joint constraints for closed-loop systems are then eliminated systematically using the generalized coordinate partitioning method, resulting to a minimal set of equations of motion.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.631-634
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• 2001

In this study, the graphic simulation system of multi joint manipulator is developed to analyze and optimize the remote handling processes for the spent fuel assembly. This system consists of a 3-D graphical modeling system, a device assembling system, and a motion simulation system. To analyze and optimize the processes involved in multi-joint manipulator operation such as NFBC transportation process and bottom nozzle removal process, the virtual work place is implemented using a computer graphic technology. This virtual workcell is exactly same as that of the real environment. This graphic simulation system of the multi-joint manipulator can be effectively used for designing the main processes and maintenance processes of the spent fuel management.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1997.04a
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• pp.69-74
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• 1997

In this paper we derive relations which describe the geometry and kinematics of contact between the travelling wheel and stepped comb joint. From which we can obtain the impulse, impulsive force and its time interval due to travelling wheel impact which can not be taken from Carter's model or Newland and Cassidy's. The calculated transient responses of the comb joint structure to travelling wheel impact reveals that the proposed wheel contact model and Carter's give very similar results but Newland Cassidy's model make a quite different results from the others.

• Korean Journal of Applied Biomechanics
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• v.17 no.1
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• pp.9-16
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• 2007

Cutting movements frequently occur in sports and influence much Lower Extremity injuries. The purpose of this study was to compare joint motion of lower extremities to cutting angles and running velocities. Seven male subjects performed cutting movements to three angles($0^{\circ}$, $30^{\circ}$, $60^{\circ}$). Subjects were instructed to run five meters at a speed of 2.5m/s and 4.5m/s before contacting their right foot on the force plate and then change direction to the left. The Peak hip, knee and ankle joint kinematics were influenced according to the running velocities and cutting angles. In conclusion, Fast running velocity and cutting angle will may influence on the lower extremity joint instability on real game situation.

• Korean Journal of Applied Biomechanics
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• v.17 no.3
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• pp.115-124
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• 2007

The purpose of this study was to analyze the kinematics variables of upper limb joint during forehand stroke by swings patterns. Eight high school tennis players were chosen for the study, who have never been injured for last six months, in Busan. They performed horizontal swing and vertical swing that it was done each five consecutive trial in the condition of square, semi-open and open stance. It was filmed by 6 video camera and used with 3-dimensional motion analyzer system. The following kinematic variables were analyzed in relation to angle of joint(shoulder, elbow and wrist joint). The conclusion were as follow: 1. The angle of right shoulder joint represented all event that both swing were shown similar pattern in swing type and stance pattern. 2. All event in the angle of elbow joint had consistent with that except E2, horizontal and vertical swings in square stance. 3. All event in the angle of wrist joint was show to similar pattern except E2, horizontal and vertical swing in open stance.

• Korean Journal of Applied Biomechanics
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• v.27 no.4
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• pp.287-288
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• 2017

• 대한관절경학회:학술대회논문집
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• 2009.10a
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• pp.39-40
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• 2009