• KIPS Transactions on Software and Data Engineering
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• v.5 no.5
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• pp.243-250
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• 2016

Recently, public interest in virtual reality (VR) and augmented reality (AR) has increased. Therefore, computer graphics-related research has been actively conducted. This has included research on virtual space related to human posture implementation. However, such research has focused on general posture in humans. This paper presents a system with reference to the basic posture in sports climbing and the inverse kinematics method for generating the positions and behavior of virtual characteristics in a three-dimensional virtual space. The simulation based on the inverse kinematics method, produced with an inverse kinematics solver and initial pose animation from motion capture, provides realistic and natural movement. We designed a simulation system to generate correct posture and motions similar to those in sports climbing by applying the basic procedure of sports climbing. The simulation system provides help for producing content about sports climbing, such as learning programs for novice climbers and sports climbing games.

• Journal of Bio-Environment Control
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• v.13 no.1
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• pp.1-7
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• 2004

This study is kinematics for the manipulator development of cucumber harvesting. A theory value was verified by repeated error measurement after the forward kinematics or inverse kinematics analysis of manipulator. Manipulator is consisted of one perpendicular link and two revolution link. The transformation of manipulator can be valued by kinematics using Denavit-Hartenberg parameter. The value of inverse kinematics which is solved by three angles faction shows two types. Repeated errors refered maximum 2.60 mm, 2.05mm and 1.55 mm according to X, Y, Z axis. In this study, the actual coordinates of maximum point and minimum point were agreement in the forward kinematics or inverse kinematics. The results of repeated error measurement were reflect to be smaller compared to a diameter of cucumber. measurement errors were determined by experimented errors during the test. For reducing errors of manipulator and improving work efficiency, the number of link should be reduced and breeding and cultural environment should be considered to reduce the weight and use the hard stuff. The velocity of motor for working should be considered, too.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.869-874
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• 2004

The inverse kinematics of five-axis milling machines produce large errors near stationary points of the required surface. When the tool travels cross or around the point the rotation angles may jump considerably leading to unexpected deviations from the prescribed trajectories. We propose three new algorithms to repair the trajectories by adjusting the rotation angles in such a way that the kinematics error is minimized. Given the tool orientations and the inverse kinematics of the machine, we first eliminate the jumping angles exceeding ${\pi}$ by using the angle adjustment algorithm, leaving the jumps less than ${\pi}$ to be further optimized. Next, we propose to apply an angle switching algorithm to compute the rotations and identify an optimized sequence of rotations by the shortest path scheme. Further error reduction is accomplished by the angle insertion algorithm based an o special interpolation to obtain the required rotations near the singularity. We have verified the algorithms by five-axis milling machines, namely, MAHO600E at the CIM Lab of Asian Institute of Technology and HERMLE UWF902H at the CIM Lab of Kasetsart University.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.10
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• pp.1574-1582
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• 2004

Binary manipulators have recently received much attention due to hyper-redundancy, light weight, good controllability and high reliability. The precise positioning of the manipulator end-effecter requires the use of many modules, which results in a high-dimensional workspace. When the workspace dimension is large, existing inverse kinematics methods such as the Ebert-Uphoff algorithm may require impractically large memory size in determining the binary positions of all actuators. To overcome this limitation, we propose a new inverse kinematics algorithm: the inverse kinematics problem is formulated as an optimization problem using real-valued design variables, The key procedure in this approach is to transform the integer-variable optimization problem to a real-variable optimization problem and to push the real-valued design variables as closely as possible to the permissible binary values. Since the actual optimization is performed in real-valued design variables, the design sensitivity becomes readily available, and the optimization method becomes extremely efficient. Because the proposed formulation is quite general, other design considerations such as operation power minimization can be easily considered.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.7
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• pp.144-153
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• 1997

The inverse kinematics problem of a reclaimer which excavates and transports raw materials in a raw yard is investigated. Because of the geometric feature of the equipment in which scooping buckets are attached around the rotating disk, kinematic redundancy occurs in determining joint variable. Link coordinates are introduced following the Denavit-Hartenbery representation. For a given excavation point the forward kinematics yields 3 equations, however the number of involved joint variables in the equations is four. It is shown that the rotating disk at the end of the boom provides an extra passive degree of freedom. Two approaches are investigated in obtaining inverse kinematics solutions. The first method pre-assigns the height of excavation point which can be determined through path planning. A closed form solution is obtained for the first approach. The second method exploits the orthogonality between the normal vector at the excavation point and the z axis of the end-effector coordinate system. The geometry near the reclaiming point has been approximated as a plane, and the plane equation has been obtained by the least square method considering 8 adjacent points near the point. A closed form solution is not found for the second approach, however a linear approximate solution is provided.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.7
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• pp.862-868
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• 2007

The planar motion of the index finger in general human hands is usually implemented by the actuation of three joints. This task requires a technique to determine the joint combination for each fingertip position which is well-known as the inverse kinematics problem in robotics. Especially, it is an essential work for grasping and manipulation tasks by robotic and humanoid fingers. In this paper, an intelligent neural learning scheme for solving such inverse kinematics is presented. Specifically, a multi-layered neural network is utilized for effective inverse kinematics, where a dynamic neural learning algorithm is employed for fast learning. Also, a bio-mimetic feature of general human fingers is incorporated to the learning scheme. The usefulness of the proposed approach is verified by simulations.

• Korean Journal of Applied Biomechanics
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• v.31 no.2
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• pp.79-86
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• 2021

Objective: The purpose of this study was to identify the effect of reduced plantar cutaneous sensation on gait kinematics during walking with and without CAI. Method: A total of 20 subjects involved in this study and ten healthy subjects and 10 CAI subjects participated underwent ice-immersion of the plantar aspect of the feet before walking test in this study. The gait kinematics were measured before and after ice-immersion. Results: We observed a before ice-immersion on plantar cutaneous sensation, CAI subject were found to reduced ankle dorsiflexion, knee external rotation, hip adduction, and internal rotation compared to control subject. After ice-immersion, CAI subjects were found to reduce knee external rotation, hip adduction. However, no significant ankle joint kinematics. Conclusion: While walking, gait pattern differences were perceived between groups with and without plantar cutaneous sensation. The results of the study may explain the abductions in the hip angle movements in CAI patients at initial contact compared to healthy subjects in the control group when plantar cutaneous sensation was reduced. A change in proximal joint kinematics may be a conservative strategy to promote normal gait patterns in CAI patients.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.557-562
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• 1991

In this paper, we present new methods for solving the inverse kinematics associated with 6 degree of freedoms manipulator by the numerical method. This method will be based on tracking stability of special nonlinear dynamical systems, and differs from the typical techniques based by the Newton-Gauss or Newton-Raphson method for solving nonlinear equations. This simulation results show that the new method is solving the inverse kinematics of PUMA 560 without the derivative of a given task space trajectories.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.2
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• pp.156-163
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• 2002

This paper presents a new formulation to simplify the three resulting constraint equations of the direct kinematics of the 3-6 (Stewart-Gough) Platform. The conventional direct kinematics of the 3-6 Platform has been formulated through complicated steps with trigonometric functions in three angle variables and thus results in the computational burden. In order to reduce the formulation complexity, we replace an angle variable into a length one and express three connecting joints on the moving platform in the same frame. The proposed formulation yields considerable abbreviation of the number of the calculation terms involved in the direct kinematics. It is verified through a series of simulation results.

• The Bulletin of The Korean Astronomical Society
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• v.40 no.1
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• pp.78.4-79
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• 2015

We present the spatially resolved kinematics of ionized gas and stars along the major axis of 9 pseudo bulge galaxies. Using the high quality long-slit spectra obtained with the FOCAS at the Subaru telescope, we measured the flux, velocity, and velocity dispersion of the [OIII] and $H{\beta}$ lines to determine the size of the narrow-line region, rotation curve, and the radial profile of velocity dispersions. We compare ionized gas kinematics and stellar kinematics to investigate whether ionized gas shows any signs of outflows and whether stars and ionized gas show the same sigma-dip feature (i.e., decrease of velocity dispersion) at the very center.