• 대한전기학회논문지:시스템및제어부문D
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• 제50권3호
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• pp.143-148
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• 2001

A lot of robot trajectory tracking methods are proposed to enhance the tracking error, but irregular tracking errors are always accompanied and very hard to reduce it. Up to now, these irregular tracking errors are reduced by introducing more complicated control algorithms. But, it is intuitively obvious to reduce only the big errors selectively in the irregular ones for the better performance instead of using more complicated control algorithms. By the characteristics of the robot, big tracking errors of the end-effector are generated mostly due to the fast moving of joint. So, in this paper, we introduce a new method which reduce the big tracking errors by clippings the joint velocity with the constraint of given path. Using this method, desired trajectory tracking is obtained within the far reduced error bound. Also, this method is successfully applied to generate the path-constrained error reducing trajectories for 2-axis SCARA type robot.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1996년도 International Conference on Agricultural Machinery Engineering Proceedings
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• pp.638-647
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• 1996

Robot manipulators for harvesting fruits must be controlled to track the desired path of end-effector to avoid obstacles under the consideration of collision free area and safety path. This paper presents a robot path control algorithm to secure a collision free area with the recognition of work environments. The flexible space, which does not damage fruits or branches of tree due to their flexibility and physical properties , extends the workspace. Now the task is to control robot path in the extended workspace with the consideration of collision avoidance and velocity limitation at the time of collision concurrently. The feasibility and effectiveness of the new algorithm for redundant manipulators were tested through simulations of a redundant manipulator for different joint velocities.

• 대한산업공학회지
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• 제22권4호
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• pp.579-588
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• 1996

The purpose of this paper is to develop a method of Collision-Free Path Planning (CFPP) for an articulated robot. First, the configuration of the robot is built by a set of robot joint angles derived from robot inverse kinematics. The joint space, that is made of the joint angle set, forms a Configuration space (Cspcce). Obstacles in the robot workcell are also transformed into the Cobstacles using slice projection method. Actually the Cobstacles means the configurations of the robot causing collision with obstacles. Secondly, a connected graph, a kind of roadmap, is constructed by the free configurations in the Cspace, where the free configurations are randomly sampled from a free Cspace immune from the collision. Thirdly, robot paths are optimally determinant in the connected graph. A path searching algorithm based on $A^*$ is employed in determining the paths. Finally, the whole procedures for the CFPP method are shown for a proper articulated robot as an illustrative example.

• 대한기계학회논문집A
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• 제29권11호
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• pp.1488-1493
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• 2005

In this study, fatigue tests to obtain S-N curves and FE analyses to obtain structural stress concentration factors were conducted for the two types of cruciform fillet welded joints, that is, load-carrying and non load-carrying types. Then we changed the obtained S-N curve of load carrying joint to that based on hot spot stress. As a result, the S-N curve of load carrying joint based on hot-spot stress was almost exactly coincided with that of non load-carrying joint based on nominal stress. So we have conducted that the fatigue strength of a welded joint with different geometry from the non stress distribution along the expected crack path.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.92-97
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• 1988

The path planning is done at the joint level. Cubic spline functions are used for constructing joint trajectories for industrial robots. For N-joint robot, Cartesian knots are transformed into N sets of joint displacements, with one set for each joint. For industrial application the speed of operation affects the productivity. An algorithm is developed to schedule the time intervals between each pair of adjacent knots such that the total traveling time is minimized subject to the physical constraints on joint velocties acceleration and jerks.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 하계학술대회 논문집 B
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• pp.843-845
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• 1995

There are a variety of trajectory and control algorithms available for robot trajectory tracking. Before using the enhanced trajectory and control algorithms to reduce the tracking error, we introduce the new method which reduces the tracking error by clipping the joint velocity. A lot of robot trajectory tracking methods are proposed to enhance the robot tracking, but irregular tracking errors are always accompanied. Up to now, these irregular tracking errors are gradually but uniformly reduced by introducing more complicated control algorithms. It is intuitively obvious to reduce only the big errors selectively in the irregular ones for the better performance. By heuristic method, big tracking errors in these irregular ones are assumed mostly due to the fast moving of joint with respect to the same tracking and control method. So, in this paper, we introduce a new method which reduce the big tracking errors by clippings the joint velocity with the constraint of given path. Using this method, desired trajectory tracking is obtained within the far reduced error bound. Also, this method is successfully applied to generate the path-constrained error reducing trajectories for 2-axis SCARA type robot.

• 치과방사선
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• 제18권1호
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• pp.167-176
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• 1988

This study was designed to evaluate the morphology of the temporomandibular joint components and dentofacial characteristics of patients with clicking and painful temporomadibular joint. The materials consisted of 80 conventional pantomographs in normal an symptomatic individuals aged 18-23 and divided into 2 groups by symptom of temporomandibular joint. The results were as follows; 1. In morphologic analysis of condylar head, type Ⅰ (anterior, posterior smooth curve) was most dominant in both group(58.75%, 55.0%) and asymmetrical condylar shape was predominant in symptomatic group (18 cases, 45%). 2. In symptomatic group, the condylar width were slightly lesser and the ratio of condylar height to height of condyle-ramus were larger than those of normal group. 3. Vertical overlap of central incisor of symptomatic group was slightly larger than that of normal group. There was significant differences between each group in mandibular midline deviation. 4. The symptomatic group tended to steep mandibular plane angle and the degree of condylar path and condylar axis of normal group were larger than those of symptomatic group. 5. The condylar width was inversely correlated with inclination of condylar path and inclination of condylar path was correlated with condylar axis in both groups.

• Journal of the Korean Data and Information Science Society
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• 제20권3호
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• pp.527-539
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• 2009

회외발에 대한 거골하 관절가동술이 균형능력에 미치는 영향을 알아보기 위해, 주상골 하강 검사에서 주상골의 하강이 4mm이하의 저가동성인 회외발군 20명을 실험군으로, 정상발군 20명을 대조군으로 하여 거골하 관절가동술을 주 3회 4주간 총 12회 적용한 결과 실험기간에 따라 동요 면적, 동요길이, 동요 최대 속도가 유의하게 감소하였으며, 실험군과 대조군에서 유의한 차이가 있었다. 실험군에서는 기간에 따라 동요 면적, 동요 길이, 동요 최대 속도가 유의하게 감소하였으나, 대조군에서는 기간에 따른 유의한 차이가 없었다. 동요 면적, 동요 길이, 동요 최대 속도에 대한 그룹 간 비교에서 설험 전은 유의한 차이가 없었으나 실험 2주 후, 실험 4주 후, 실험종료 2주 후에서는 실험군이 대조군에 비해 유의하게 낮았다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.63-66
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• 1988

In the control of the robotic manipulators, the variable structure control method for the get Point Regualation has a advantage of the insensitivity about parameter variations and disturbances. When the robotic manipulators are controlled by a point-to-point scheme, no path constraint is considered. Thus, the variable structure control method will be effectively applied only if the trajectory of the robot hand is estimated precisely. In this paper, the joint trajectories in the joint space and the hand trajectory in the cartesian space are calculated by the variable structure control method, and an algorithm is suggested to elaborate the deviation error of the robot hand from a straight line path. The result of this study will become a base of the effective path planning about robotic manipulators with the variable structure control concept.

• 대한전자공학회논문지
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• 제25권12호
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• pp.1601-1609
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• 1988

In the control of the robotic manipulators, the variable structure control method for the set point Regualation has an advantage of the insensitivity about parameter variations and disturbances. When the robotic manipulatores are controlled by a point-to-point scheme, no path constraint is considered. Thus, the variable structure control method will be effectively applied only if the trajectory of the robot hand is estimated precisely. In this paper, the joint trajectories in the joint space and the hand trajectory in the cartesian space are calculated by the variable structure control method, and an algorithm is suggested to elaborate the deviation error of the robot hand from a straight line path. The result of this study will become a base of the effective path planning about robotic manipulators with the variable structure control concept.