• Journal of Navigation and Port Research
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• v.45 no.6
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• pp.284-297
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• 2021

A simple kinematic model for the prediction of ship manoeuvres based on trial data is proposed in this study. The model consists of first order differential equations in surge, sway, and yaw directions which simulate the time series of each velocity component. Actually instead of sea trial data, dynamic model simulations are conducted with randomly varied control inputs such as propeller revolution rates and rudder angles. Based on learning of control inputs and velocity outputs of dynamic model simulations in sufficient time, kinematic model coefficients are optimized so that the kinematic model can be approximately reproduce the velocity outputs of dynamic model simulations with arbitrary control inputs. The resultant kinematic model is verified with new dynamic simulation sets.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.969-972
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• 2004

This paper describes the mechanism of parallel micro machine platform and its feedback control system for acquiring high accuracy. The parallel micro machine platform that has developed has 5x5x5 work-space and sub-micron accuracy. For the high accuracy, the feedback control system is important but errors in machining and assembling are inevitable. Kinematic calibration is important for this reason. In this paper, various error components are introduced and the effects of error component are analyzed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.413-418
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• 1996

Alternate pirn winding is more difficult to control than others because starting points of its traverse strokes are changed alternately through the winding operations. However, the alternate pirn winding is ye useful method because the yarn can be hardly broken when it is unwinded from full packaged bobbin. This paper presents kinematic control algorithm for the alternate pirn. The proposed algorithm can decide the values of control variables such as bobbin speed and traverse speed from the given input parameters and constraints by using the kinematic relations of the winding mechanism. The compute simulations and experimental verifications of the developed winding control algorithm are carried out It is concluded that the proposed algorithm is an efficient and reliable alternative to traditional trial and error control methods.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2735-2737
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• 2000

In this paper, we deal with modeling and analysis for mobile manipulator systems. In order to avoid the difficulties occurring due to slippage or unevenness of the terrain, we propose the utilization of minimum actuators. In this case, the resulting systems typically possess kinematic redundancies which can be beneficially employed for correcting the position error. A simple PD control method along with kinematic redundancy is employed to recover position errors for trajectory control in task space. Several primary and secondary criteria utilizing kinematic redundancy of the mobile manipulator system are tested through graphic animation.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.9
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• pp.764-775
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• 2002

A kinematic and dynamic optimal design of a new parallel-type rolling mill based upon Stewart platform manipulator is investigated. To provide sufficient degrees-of-freedom in the rolling process and the structural stability of each stand, a parallel manipulator with six legs is considered. The objective of this new parallel-type rolling mill is to permit an integrated control of the strip thickness, strip shape, pair crossing angle, uniform wear of the rolls, and tension of the strip. By splitting the weighted Jacobian matrices Into two parts, the linear velocity, angular velocity, force, and moment transmissivities are analyzed. A manipulability measure, the ratio of the manipulability ellipsoid volume and the condition number of a split Jacobian matrix, is defined. Two kinematic parameters, the radius of the base and the angle between two neighboring Joints, are optimally designed by maximizing the global manipulability measure in the entire workspace. The maximum force needed in the hydraulic actuator is also calculated using the structure determined through the kinematic analysis and the Plucker coordinates. Simulation results are provided.

• Journal of Astronomy and Space Sciences
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• v.37 no.3
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• pp.199-208
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• 2020

This paper presents a kinematic ephemeris generator for Korea Pathfinder Lunar Orbiter (KPLO) and its performance test results. The kinematic ephemeris generator consists of a ground ephemeris compressor and an onboard ephemeris calculator. The ground ephemeris compressor has to compress desired orbit propagation data by using an interpolation method in a ground system. The onboard ephemeris calculator can generate spacecraft ephemeris and the Sun/Moon ephemeris in onboard computer of the KPLO. Among many interpolation methods, polynomial interpolation with uniform node, Chebyshev interpolation, Hermite interpolation are tested for their performances. As a result of the test, it is shown that all the methods have some cases that meet requirements but there are some performance differences. It is also confirmed that, the Chebyshev interpolation shows better performance than other methods for spacecraft ephemeris generation, and the polynomial interpolation with uniform nodes yields good performance for the Sun/Moon ephemeris generation. Based on these results, a Kinematic ephemeris generator is developed for the KPLO mission. Then, the developed ephemeris generator can find an approximating function using interpolation method considering the size and accuracy of the data to be transmitted.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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• pp.1145-1151
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• 2013

Kinematic modeling is a prerequisite for motion planning and the control of mobile robots. In this paper, we proposed a new method of kinematic modeling for a type of mobile robot based on differential motion transformation. The differential motion implies a small translation and rotation in three-dimensional space in a small time interval. Thus, transformation of the differential motion gives the velocity relationship, i.e., Jacobian between two coordinate frames. Since the theory of the differential motion transformation is well-developed, it is useful for the systematic velocity kinematic modeling of mobile robots. In order to show the validity for application of the differential motion transformation, we obtained velocity kinematic models for a type of exemplar mobile robot including spherical ballbots.

• 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 Institute of Control, Robotics and Systems
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• v.5 no.3
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• pp.324-337
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• 1999

In this work, a new 3-PSP type spatial 3-degree-of-freedom parallel mechanism is proposed. And a 6 DOF hybrid manipulator which consists of a 3-PPR type planar 3 DOF parallel mechanism and a new 3-PSP type spatial 3-degree-of-freedom parallel mechanism is proposed. Both 3 DOF mechanism modules have closed-form forward position solutions and particularly, 3-PSP spatial module has unique forward position solution. Firstly, the closed-form position analysis and first-order kinematic analysis for the proposed 3-PSP type module are carried out, and the first-order kinematic characteristics are examined via maximum singular value and the isotropic index of the mechanism. It is shown through these analyses that the mechanism has excellent isotrpic property throughout the workspace. Secondly, position and kinematic analysis of the 3-PPR planar module are briefly described. Thirdly, the forward position analysis for the 3-PPR 3-PSP type 6 degree-of-freedom hybrid mechanism consisting of a 3-PPR planar module and a 3-PSP spatial module is performed along with the analysis of the workspace size and first-order kinematic characteristics. The kinematic characteristics of the proposed hybrid manipulator are compared to those of geometrically similar Stewart manipulator.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.217-222
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• 2001

We propose a new two-degree of freedom parallel mechanism for a haptic device and will refer to the mechanism as the SenSation. The SenSation is designed in order to improve the kinematic performanced and to achieve static balance. We use the panto graph mechanisms in order to change the location of active joints, which leads to transform a direct kinematic singularity into a nonsingularity. The direct kinematic singular configurations of the SenSation occur near the workspace boundary. Using the property that position vector of rigid body rotating about a fixed point is normal to the velocity vector, Jacobian matrix is derived. Using the vector method, two different types of singularities of the SenSation can be identified and we discuss the physical significance of each of the three types of singularities. We will compare the kinematic performances(force manipulability ellipsoid, kinematic isotropy) of the SenSation with those of five-var parallel mechanism. By specifying that the potential energy be fixed, the conditions for the static balancing of the SenSation is derived. The static balancing is accomplished by changing the center of mass of the links.