• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.811-814
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• 1997

In this paper, the torque optimization of a kinematically redundant manipulator for minimizing the torque demands is discussed. The minimum torque solution based on a local optimization has been known to encounter the instability problem and then the global torque optimization was suggested as one of the alternatives. Herein, by adopting the infinity-norm rather than the 2-norm for the magnitude of torques, we are to propose a new cost function more advantageous to the avoidance of torque limits. By the way, a solution to the global torque optimization formulated with the new cost function can not be obtained by the previous methods due to their difficulties such as inability to treat discontinuous cost functions and various constraints on the joint variables. Thus, to overcome those deficiencies, we are developing a new approach using the dynamic programming. The effectiveness of the proposed method is shown through simulation examples for a 3-link planar redundant manipulator.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.2
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• pp.72-79
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• 2008

In the redundant actuation system which has more actuators than a system's mobility, there are various method to determine actuated torques because those are not determined uniquely. This paper presents a torque distribution method using weighted-pseudoinverse to optimize the maximum torque of various actuated inputs of the redundant system. The various weighting factor of weighted-pseudoinverse is studied to reduce maximum actuated torque. This method is experimentally applied to 3RRR parallel robot, which shows that presented method can efficiently reduce the maximum actuated torque.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.501-506
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• 1993

An efficient solution algorithm of the optimal load distribution problem with joint torque constraints is presented. Multiple robot system where each robot is rigidly grasping a common object is considered. The optimality criteria used is the sum of weighted norm of the joint torque vectors. The maximum and minimum bounds of each joint torque in arbitrary form are considered as constraints, and the solution that reduces the internal force to zero is obtained. The optimal load distribution problem is formulated as a quadratic optimization problem in R, where I is the number of robots. The general solution can be obtained using any efficient numerial method for quadratic programming, and for dual robot case, the optimal solution is given in a simple analytical form.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.930-939
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• 2004

In this paper, both dynamic constraints and kinematic constraints are considered for the analysis of manipulability of robotic systems comprised of multiple cooperating arms. Given bounds on the torques of each Joint actuator for every robot, the purpose of this study is to drive the bounds of task-space acceleration of object carried by the system. Bounds on each joint torque, described as a polytope, is transformed to the task-space acceleration through matrices related with robot dynamics, robot kinematics, object dynamics, grasp conditions, and contact conditions. A series of mathematical manipulations including the procedure calculating minimum infinite-norm solution of linear equation is applied to get the reachable acceleration bounds from given actuator dynamic constrains. Several examples including two robot systems as well as three robot system are shown with the assumptions of complete-constraint contact model(or' very soft contact') and insufficient or proper degree of freedom robot.

• The korean journal of orthodontics
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• v.21 no.3
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• pp.481-493
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• 1991

The purpose of this study was to obtain the norm of the crown shape (tip, torque, in/out) and arch form, and to provide basic data for fabricating straight wire bracket and ideal arch wire for Korean. 100 subjects aged from 17 to 26 (50 females, 50 males) were selected with a normal occlusion. By measuring the size, angulation, inclination, arch width, facial prominance of the teeth and the molar offset, the following results were obtained. 1. Average, standard deviation, minimum, maximum of each measuring item for each teeth were obtained. 2. Intermolar width (${\underline{6}}$ to ${\underline{6}}$) of upper arch before occlusal surface cutting and intermolar width of upper arch (${\underline{6}}$ to ${\underline{6}}$, ${\underline{7}}$ to ${\underline{7}}$) after occlusal surface cutting showed statistical difference. There was no difference between sexes in any other measuring items. 3. Arch form and specification of straight wire bracket for Korean who have normal occlusion was obtained.