• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.535-538
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• 1996

This paper presents the kinematic and dynamic analysis of parallel manipulators with actuation redundancy, obtained by replacing the passive joints of an existing parallel manipulator with the active ones. We develop the kinematic and dynamic models of a parallel manipulator with actuation redundancy. The multiplicity in selecting the controllable active joints among the increased number of active joints is considered in the modeling. Based on the derived models, we define the kinematic and dynamic manipulabilities of a parallel manipulator with actuation redundancy. The effect of the actuation, redundancy on the performance of parallel manipulators is analyzed in terms of kinematic and dynamic manipulabilities.

• The Journal of Korea Robotics Society
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• v.3 no.4
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• pp.338-344
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• 2008

Most omni-directional mobile robots have to change their trajectory for avoiding obstacles regardless of the size of the obstacles. However, an omni-directional mobile robot having kinematic redundancy can maintain the trajectory while the robot avoids small obstacles. This works deals with the kinematic modeling and motion planning of an omni-directional mobile robot with kinematic redundancy. This robot consists of three wheel mechanisms. Each wheel mechanism is modeled as having four joints, while only three joints are necessary for creating the omni-directional motion. Thus, each chain has one kinematic redundancy. Two types of wheel mechanisms are compared and its kinematic modeling is introduced. Finally, several motion planning algorithms using the kinematic redundancy are investigated. The usefulness of this robot is shown through experiment.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.396-399
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• 1995

This paper presents a new formulation of the kinematics of closed-chain mechanisms and its applications to obtaining the kinematic solutions and analyzing the singularities. Closed-chain mechanisms under consideration may have the redundancy in the number of joints. A closed-chain mechanism can be treated as the parallel connection of two open-chains with respect to a point of interest. The kinematics of a closed-chain mechanism is then obtained by imposing the kinematic constraints of the closed-chain on the kinematics of the two open-chains. First, we formulate the kinematics of a closed-chain mechanism using the kinematic constraint between the controllable active joints and the rest of joints, instead of the kinematic constraint between the two open-chains. The kinematic formulation presented in this paper is valid for closed-chain mechanisms with and without the redundancy. Next, based on the derived kinematics of a closed-chain mechanism, we provide the kinematic solutions which are more physically meaningful and less sensitive to numerical instability, and also suggest an effective way to analyze the singularities. Finally, the computational cost associated with the kinematic formulation is analyzed.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.3
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• pp.263-271
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• 2017

A captive trajectory simulation (CTS) system is used to investigate the separation behavior of the store model by moving the model to an arbitrary pose and position based on aerodynamic data. A CTS system operated inside a wind tunnel is designed to match the structure of the wind tunnel facility. As a result, each CTS system has different kinematic structure, and inverse kinematic analysis of the system is necessary. In this study, kinematic/inverse kinematic analysis for the CTS system with functional redundancy is performed. Inverse kinematic analysis with combined numerical and analytical approach is especially proposed. The suggested approach utilizes the redundancy to improve the safety of the system, and has advantages in real time analysis.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.730-733
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• 1996

This paper presents the kinematic and dynamic analysis of parallel manipulators with redundant limbs, obtained by putting additional limbs to an existing parallel manipulator. We develop the kinematic and dynamic models of a parallel, manipulator with redundant limbs. The redundancy in parallelism due to the increased number of limbs and the redundancy in actuation due to the increased number of active joints are considered in the modeling. Based on the derived models, we define the kinematic and dynamic manipulabilities of a parallel manipulator with redundant limbs. The effect of the redundant limbs on the performance of parallel manipulators is analyzed in terms of kinematic and dynamic manipulabilities.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.12
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• pp.1106-1114
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• 2012

To achieve synchronized motion between a wearable robot and a human user, the redundancy must be resolved in the same manner by both systems. According to the seven DOF (Degrees of Freedom) human arm model composed of the shoulder, elbow, and wrist joints, positioning and orientating the wrist in space is a task requiring only six DOFs. Due to this redundancy, a given task can be completed by multiple arm configurations, and thus there exists no unique mathematical solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and their effect on the redundancy resolution of the human arm based on a seven DOF manipulator model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing different cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid for the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each two consecutive points along the task space trajectory. As a first step, the redundancy based on the kinematic criterion will be thoroughly studied based on the motion capture data analysis. Experimental results indicate that by using the proposed redundancy resolution criterion in the kinematic level, error between the predicted and the actual swivel angle acquired from the motor control system is less than five degrees.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.123-128
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• 1996

Kinematically redundant manipulators have been studied because of its usefulness of kinematic redundancy. It is natural that the kinematic redundancy induces a kind of control redundancy. By using the weighted kinematically decoupled joint space decomposition, we unify the control redundancy and the kinematic redundancy parameterized by the joint space weighting matrix. Concentrating to the particular component of each decomposition, we can describe the local minimization behavior of the control weighted quadratic by each weighted decomposition. The result extends the conventional results on general setting, and should be of interest in understanding the motion behavior of kinematically redundant manipulators.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.875-881
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• 2014

The redundancy resolution of the seven DOF (Degree of Freedom) upper limb exoskeleton is key to the synchronous motion between a robot and a human user. According to the seven DOF human arm model, positioning and orientating the wrist can be completed by multiple arm configurations that results in the non-unique solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and its effect on the redundancy resolution of the seven DOF human arm model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing two cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid of the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each of two consecutive points along the task space trajectory. The contribution of each criterion on the redundancy was verified by the post processing of experimental data collected with a motion capture system. Results indicate that the bimodal redundancy resolution approach improved the accuracy of the predicted swivel angle. Statistical testing of the dynamic constraint contribution shows that under moderate speeds and no load, the dynamic component of the human arm is not dominant, and it is enough to resolve the redundancy without dynamic constraint for the realtime application.

• The Journal of Korea Robotics Society
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• v.6 no.4
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• pp.308-316
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• 2011

This work deals with development of effective redundancy resolution algorithms for the motion control of manipulator. Differently from the typical kinematically redundant robots that are attached to the fixed ground, the ZMP condition should be taken into account in the manipulator motion in order to guarantee the system stability. In this paper, a new motion planning algorithm for redundant manipulator not fixed to the ground is introduced. A sequential redundancy resolution algorithm is proposed, which ensures the ZMP (Zero Moment Point) stability, the planned operational motion, and additional sub-criteria such as joint limit index. A geometric constraint equation derived by reshaping the existing ZMP equation enables one to employ the sequential redundancy algorithm. The feasibility of the proposed algorithm is verified by simulating a redundant manipulator model.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.5
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• pp.469-475
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• 1997

A method for solving the inverse kinematic problem of reclaimer is presented in this paper. The reclaimers in the raw yard are being used to dig raws and transfer them to the blast furnaces. The kinematic configuration of the reclaimer is different from that of commercially available robots, because it has a rotating disk with several buckets at the end of the boom to dig raws. The reclaimer has a redundancy due to the rotating disk : the degrees of freedom are greater than the number of forward kinematic equations. A plane equation in the 3-dimensional space is determined by using several points adjacent to the reclaiming point of the raw ores pile. A constraint is obtained from the relation ship of the plane equation and trajectories of the bucket of the reclaimer. Finally, a solution of the inverse kinematics of the reclaimer is determined by a numerical method.