• Journal of Advanced Marine Engineering and Technology
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• 제38권6호
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• pp.648-657
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• 2014

본 논문에서는 화재나 홍수로 인하여 침수된 건물 내부를 탐사할 수 있는 새로운 방수형 4축 로봇팔을 설계하고 로봇의 기구학 및 동역학 해석을 수행한다. 로봇팔은 카메라를 이용한 탐사를 위한 Pitch-Pitch-Pitch-Yaw 4축 구조로 설계하고, 이를 구동하기 위한 관절구동기의 용량을 선정한다. 또한 수심 10m의 방수가능한 관절구동기를 설계 하고 실제 구동시험을 통하여 방수성능을 검증한다. 설계한 로봇팔의 순기구학 및 역기구학 식의 해석을 통해 닫힌 해를 유도하며, 메커니컬실의 마찰력을 고려한 로봇팔의 운동방정식을 뉴턴-오일러 방법에 의해 유도한다. 유도한 동역학식을 이용하여 개발한 로봇이 목표궤적을 잘 추종할 수 있도록 슬라이딩모드 제어기를 설계하고, 시뮬레이션을 통해 그 성능을 확인한다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.929-934
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• 2004

As 3D scanner develops, it can be used in measurement. To accomplish complete 3D measurement, the scanner has to view different sides of the target. It can be done by moving the scanner and fix it at every measuring point. By human, it would take so much time. However, by using robot, measuring time can be reduced and the procedure can be automated. It is suitable for 6R serial manipulator to do this kind of work in which the scanner should go any position in arbitrary orientation. We did inverse kinematics analysis by analytical and graphical methods. Then, we compared two methods.

• 대한기계학회논문집
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• 제18권6호
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• pp.1421-1429
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• 1994

An algorithm is developed for solving the inverse kinematic problem of a 6-degree-of-freedom robot with a wrist offset for which the closed form inverse solutions are not obtainable, but knowledge of one joint variable allows closed form solutions of the remaining joint variables. The algorithm does not require Forward Kinematics nor Jacobian but uses the implicit kinematic relationships between joint variables and the given hand position. An iterative back substitution method is used to solve the inversion and the optimal conditions of the convergence are incoporated. An example is given to illustrate the concepts, the solution procedure and its convergency.

• 제어로봇시스템학회논문지
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• 제7권2호
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• pp.168-172
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• 2001

The accuracy problem of robot manipulators has long been one of the principal concerns in robot design and control. A practical and economical way of enhancing the manipulator accuracy, without affecting its hardware, is kinematic calibration. In this paper an effective and practical method is presented for kinematic calibration of Stewart platforms. In our method differential errors in kinematical parameters are linearly related to differential errors in the platform pose, expressed through the forward kinematics. The algorithm is tested using simulated measurement in which measurement noise is included.

• 한국컴퓨터정보학회:학술대회논문집
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• 한국컴퓨터정보학회 2014년도 제50차 하계학술대회논문집 22권2호
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• pp.259-260
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• 2014

IT 기술의 발달로 인해 로봇공학은 전문가의 영역에서 비전문가의 영역까지 두루 사용되고 있다. 그러나 현재 존재하는 소프트웨어는 여전히 높은 진입 장벽을 가지고 있다. 비전문가가 실질적으로 참고자료가 많이 부족하기 때문에 로봇 제어가 쉽지 않다. 본 논문에서는 5 자유도를 가진 로봇 팔을 움직이게 할 때 사용하는 기존의 역기구학(Inverse Kinematics)을 활용하여 기존 방법의 난도보다 직관적인 방법을 제시하여 비전문가들에게 로봇에 대한 높은 접근성을 제시한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.230-233
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• 1993

This paper described a relationship between motion speed and working accuracy of industrial articulated robot arms. Working accuracy of the robot arm deteriorates at high speed operation caused by a nonlinear transformation of the kinematics and the time delay of the robot arm dynamic. The deterioration of the following trajectory was expressed as a linear function of the squares of the robot arm motion speed, depending upon a posture of the robot arm and division interval of the objective trajectory.

• 한국정밀공학회지
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• 제17권6호
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• pp.63-68
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• 2000

This paper describes the conceptual design of new robot hand by type synthesis. The conventional robot hands with rotational movement have bad controllability because the distance between the final rotational joint and the center of things grasped is changed according to the size of things grasped. This paper uses the systematic procedure of type synthesis and the knowledge for designing robot hands. The new 6-bar Watt I type conceptual robot hand with rectilinear translational movement is proposed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.511-517
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• 1988

Movement order program of robot operating program is generally made by teach-in method. Therefore in most cases it is sufficient as long as the robot system shows a reguired repeatability for the working conditions. But the trend in the robot application moves to the automatic generation of the working programs. A mathematical robot model similar to the reality is necessary for the analysis of the kinematic transformation of the robot system. The purposes of this paper are to make a better describing form and to suggest an automatic algorithm for kinematic parameter identification.

• Journal of Advanced Marine Engineering and Technology
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• 제34권2호
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• pp.318-324
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• 2010

본 논문에서는 새로운 구조의 6축 다관절 로봇 매니퓰레이터의 경량화와 토크성능을 높이기 위하여 어깨관절부위에 중력보상기를 설계하고 적용하였다. 또한, 매니퓰레이터의 기구학 및 역기구학 해석을 하였다. 자체 중량 30Kg의 경량이면서도 25Kg 고가반하중 인 우수한 성능을 구비할 수 있도록 매니퓰레이터의 링크 구조에 대한 FEM 해석을 수행하였다. FEM 해석을 통하여 로봇 매니퓰레이터의 굽힘이나 파단에 대한 안정성을 확인하였다.

• 로봇학회논문지
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• 제15권3호
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• pp.212-220
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• 2020

This paper deals with a strategy of gain optimization for the kinematic control algorithm of a wire-driven surgical robot. The proposed controller consists of the closed-loop inverse kinematics with the back-calculation method. The closed-loop inverse kinematics has 18 PID control gains, and the back-calculation method has 6 gains. An efficient strategy is designed to optimize 18 values first and then the remaining 6 values. The optimal gain sets are searched under the step input with performance indices. In this gain optimization, the objective function is defined as the minimum value of signal-to-noise ratio of the performance indices for 6 DoF (Degree-of-Freedom) motion that is based on the Taguchi method, and the constraints are applied to obtain stable responses for each motion evenly. The gain sets obtained are verified by simulations using the test trajectories. In comparative results, the optimal gain value based on the performance index combined with ISE (integral of square error) and settling time showed the best control performance.