• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.847-852
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• 2016

In this paper, important design parameters for parallel kinematic robots are defined, paying special attention to machining errors which may cause kinematic errors at the end effector of a robot. The kinematic effects caused by each design parameter, as well as their upper/lower limits, are analyzed here. To do so, we have developed a novel software program to compute kinematic errors by considering its defined design parameters. With this program, roboticists designing parallel kinematic robots can understand the important design parameters for which upper/lower allowances have to be strictly controlled in the design process. This tactic can be used for the design of high-speed, parallel kinematic robots to reduce the design/manufacturing costs and increase kinematic precision.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.10
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• pp.2543-2554
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• 1993

In this paper, the kinematic and dynamic analyses of spatial complex kinematic chain are studied. Through the new method both using the set of identification numbers and applying the DenavitHartenberg link representation method to the spatial complex kinematic chain, the kinematic configuration of the chain is represented. Some link in the part of closed chain being fictitiously cutted, the complex kinematic chain is transformed to the branched chain. The kinematic constraint equations are derived from the constraint conditions which the cutted sections of the link have to satisfy. And the joint variables being partitioned in the independent joint variables and the dependent joint variables, the dependent variables are calculated from the independent variables by using the Newton-Raphson iterative method and the pseudoinverse matrix. The equations of motion are derived under the independent joint variables by using the principle of virtual work. Algorithms for dynamic analysis are presented and simulations are done to verify accuracy and efficiency of the algorithms.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.4
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• pp.610-618
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• 2001

Pantograph, which collects current from cartenary system, is one of the important parts of high-speed train. Kinematic analysis is one of the key technologies for pantograph design and includes joint trajectories, reaction forces, and the required moment of main shaft calculations. The kinematic analysis, however, is very complex and time-consuming process. In this study PC based pantograph kinematic analysis software using graphical user interface tool was developed for the easy evaluations of kinematic characteristics necessary in pantograph design process.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.7
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• pp.28-35
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• 2002

This paper deals with kinematic modeling of a car-like planar mobile robot consisting of four conventional fixed wheels attached on two parallel axles. The kinematic model of such a mobile robot requires the description of skidding and sliding frictional motion. Previous kinematic model proposed by Muir and Newman$^{[1]}$ does not include such frictional motions. Thus, does it result in least square solution in estimating a sensed forward velocity solution. A modified kinematic model is proposed by incorporating transnational friction motion into the original algorithm. It is shown that transnational friction motions should be included into kinematic model of the mobile robot to represent its real physical motion.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.4 s.97
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• pp.26-36
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• 1999

A general procedure for determining the optimum location of suspension hard points with respect to kinematic design parametes is presented. Suspensions are modeled as connection of rigid bodies by ideal kinematic joints. Constraint equations of the kinematic joints are expressed in terms of the generalized coordinates and hard points. By directly differentiating the constraint equations with respect to the hard points, kinematic sencitivity equations are obtained. In order to cope with algebraic complexity associated with the differentiation process, a symbolic computation technique is used. A performance index is defined in terms of static design parameters such as camber, caster, toe, ect.. Gradient of the performance index can be analytically computed from the kinematic sensitivity equations. Optimization results show the effectiveness and validity of the procedure, which is applicable to any type of suspension if its kinematic configurations are given.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.183-190
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• 2022

Accurate kinematic parameters of mobile robots are essential because inaccurate kinematic model produces considerable uncertainties on its odometry and control. Especially, kinematic parameters of caster type mobile robots are important due to their complex kinematic model. Despite the importance of accurate kinematic parameters for caster type mobile robots, few research dealt with the calibration of the kinematic model. Previous study proposed a calibration method that can only calibrate double-wheeled caster type mobile robot and requires direct-measuring of robot center point and distance between casters. This paper proposes a calibration method based on geometric approach that can calibrate single-wheeled caster type mobile robot with two or more casters, does not require direct-measuring, and can successfully acquire all kinematic parameters required for control and odometry. Simulation and hardware experiments conducted in this paper validates the proposed calibration method and shows its performance.

• Journal of Mechanical Science and Technology
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• v.17 no.8
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• pp.1133-1139
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• 2003

In this paper, a numerical algorithm for the kinematic analysis of a multi-link five-point suspension system is presented. The kinematic analysis is carried out in terms of the rectangular Cartesian coordinates of some defined points in the links and at the joints. Geometric constraints are introduced to fix the relative positions between the points belonging to the same rigid body. Position, velocity and acceleration analyses are carried out. The presented formulation in terms or this system of coordinates is simple and involves only elementary mathematics. The results of the kinematic analysis are presented and discussed.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.131-137
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• 1989

The effect of kinematic model choice on robot calibration is examined. This paper presents a complete formulation to identify the actual robot kinematic parameters directly from position data. The method presented in this paper applies to any serial link manipulator with arbitrary order and combination of revolute and prismatic joint.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.229-230
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• 2009

• East Asian mathematical journal
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• v.31 no.3
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• pp.311-319
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• 2015

This paper is concerned with the optimal control for the forest kinematic model. That is, we show the exiatence of the strong solution for the forest kinematic model and then show the existence of the optimal control.