• Journal of Institute of Control, Robotics and Systems
• /
• v.9 no.10
• /
• pp.798-807
• /
• 2003

We propose a blind mobile robot force control algorithm that uses force information as a guidance toward to the goal position. Based on the mobile robot dynamics, the control law is formed from explicit force errors. Simulation studies are conducted based on the kinematics and the dynamics of the mobile robot. Simulation results show that good force tracking can be achieved. In order to confirm simulation results, experiments are performed. The robot is commanded to follow unknown environment with maintaining a certain desired force. Experimental results show that the blind mobile robot successfully maintains contact with a regulated desired force and arrives at the goal position.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.808-812
• /
• 2003

We need a lot of manpower and we can cut down a labor cost by applying industrial robots the footwear bonding automation process. In this study, we suggest how to program off-line robot path along a shoe's outsole shape in the footwear bonding process by 5-axis microscribe system like robot arms. This microscribe system development consists 5-axis microscribe mechanics, signal processing circuit, and PC with software. It is the system for making database of a shoe's outsole through the movement of a microscribe with many joints. To do this, first read 5-encoders' pulse values while a robot arm points a shoe's outsole shape from the initial status. Then, calculate a relative shoe's outsole by Denavit-Hatenberg's (D-H) direct Kinematics of known length of links and coordinate values. Next, calculate the encoders' pulse values of the robot arm's rotation and transmitting the angle pulse values to the PC through a circuit. Finally, it is able to display a shoe's outsole at real-time by computing the Denvavit-Hantenberg's (D-H) direct kinematics in the PC. With the coordinate values calculated above, we can draw a bonding gauge-line on the upper. Also, we can make off-line robot path programming compute a shoe's bonding area on the upper. These results will be effectively applied for programming a robot path on off-line and automatically.

• ETRI Journal
• /
• v.40 no.4
• /
• pp.511-521
• /
• 2018

The ability to realize human-motion imitation using robots is closely related to developments in the field of artificial intelligence. However, it is not easy to imitate human motions entirely owing to the physical differences between the human body and robots. In this paper, we propose a work chain-based inverse kinematics to enable a robot to imitate the human motion of upper limbs in real time. Two work chains are built on each arm to ensure that there is motion similarity, such as the end effector trajectory and the joint-angle configuration. In addition, a two-phase filter is used to remove the interference and noise, together with a self-collision avoidance scheme to maintain the stability of the robot during the imitation. Experimental results verify the effectiveness of our solution on the humanoid robot Nao-H25 in terms of accuracy and real-time performance.

• Journal of the Ergonomics Society of Korea
• /
• v.16 no.3
• /
• pp.11-21
• /
• 1997

The purpose of this study is to obtain 3-dimensional isocomfort workspace using the robot kinematics, which is based on perceived discomfort in varying postures for manipulating four types of controls. Fifteen healthy male subjects participated in the experiment where their perceived discomfort in the given postures was measured, in which L32 orthogonal array was adopted. The shoulder flexion and adduction-abduction, elbow flexion, types of controls, and right/left hands were selected as experimental variables. The results showed that the shoulder flexion and adduction-abduction, elbow flexion, and types of controls significantly affected the perceived discomfort at .alpha. =0.01. Depending upon the types of control used, regression equations predicting perceived dis- comfort and three dimensional isocomfort workspace were suggested based on the experiemntal cata. Using the equations, driver's isocomfort workspace in his/her cabin for pushing operation was illustrated, in which the robot kinematics was employed to describe the translational relationships between the upper arm and the lower arm/hand. It was ecpected that isocomfort workspace could be used as a valuable guideline to design workplaces ergonomically.

• International Journal of Control, Automation, and Systems
• /
• v.4 no.5
• /
• pp.575-591
• /
• 2006

In a previous research, we presented the Grid Method and confirmed it as a systematic and efficient problem formulation method for the task-oriented design of robot kinematics. However, our previous research was limited in two ways. First, it gave only a local optimum due to its use of a local optimization technique. Second, it used constant weights for a cost function chosen by the manual weights tuning algorithm, thereby showing low efficiency in finding an optimal solution. To overcome these two limitations, therefore, this paper presents a global optimization technique and an adaptive weights tuning algorithm to solve a formulated problem using the Grid Method. The efficiencies of the proposed algorithms have been confirmed through the kinematic design examples of various robot manipulators.

• Journal of the Korean Society for Precision Engineering
• /
• v.10 no.3
• /
• pp.133-140
• /
• 1993

In this paper, we prpose a method for tracking optimally a spatial trajectory of the end-effector of flexible robot arms with multiple joints. The proposed method finds joint trajectories and joint torques necessary to produce the desired end-effector motion of flexible manipulator. In inverse kinematics, optimized joint trajectories are computed from elastic equations. In inverse dynamics, joint torques are obtained from the joint euqations by using the optimized joint trajectories. The equations of motion using finite element method and virtual work principle are employed. Optimal control is applied to optimize joint trajectories which are computed in inverse kinematics. The simulation result of a flexible planar manipulator is presented.

• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10b
• /
• pp.1028-1032
• /
• 1988

The purpose of this paper is the development of a fully integrated simulation package for industrial robot. The simulation package consists of kinematics, dynamics, and control. The kinematics contains trajectory plans and inverse kinematics. The dynamics combines manipulator dynamics and actuator dynamics including the effect of payloads and viscous frictions. The control is a hardware oriented scheme which contains position controller, velocity controller, current controller, and PWM generator. Thus, the simulation package can be used not only for theoretical purposes but also for development purposes in industry. Using this package, the characteristics and performances of the SCARA robot, which has been developed in GSIS, are investigated.

• Journal of the Korean Society of Industry Convergence
• /
• v.20 no.1
• /
• pp.49-55
• /
• 2017

This study proposes a new approach to Control and trajectory generation of a 8 DOF human robot arm with computational complexity and singularity problem. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of research, we propose an analytical kinematics algorithm for a 8 DOF bipped dual robot arm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regarding to the end-effector pose. Performance of the proposed algorithm was verified by simulation test with various conditions. It has been verified that the trajectory planning using this algorithm.

• Proceedings of the KIEE Conference
• /
• 2001.11c
• /
• pp.72-75
• /
• 2001

In this paper, the kinematic model and motion control of a joint-actuated mobile robot are analyzed. To take an efficient approach to the wheeled mobile robots, the relationship between wheel rotation and the contact point of the wheel is considered. It is shown that each addition of a joint to a mobile robot increases the degree of freedom(DOF) of mobile robot, and the way of joint attachment to a mobile robot is proposed. To get a solution of inverse kinematics of mobile robot, two types of approaches are proposed.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2007.11a
• /
• pp.159-162
• /
• 2007

The inverse kinematics problem in robotics is an essential work for grasping and manipulation tasks by robotic and humanoid hands. In this paper, an intelligent neural learning scheme for solving such inverse kinematics of humanoid fingers is presented. Specifically, a multi-layered neural network is utilized for effective inverse kinematics, where a dynamic neural learning algorithm is employed. 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.