• 제목/요약/키워드: Robot motion

검색결과 1,606건 처리시간 0.032초

2자유도 승마로봇 제어를 위한 동작특성분석 (Motion analysis for control of a 2-DOF horse riding robot)

  • 서동진;전세웅;김영욱;고낙용
    • 로봇학회논문지
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    • 제6권3호
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    • pp.263-273
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    • 2011
  • This paper analyzes the motion of a horseback riding robot which has two actuators and three joints. It is impossible to control the saddle to get to any position and orientation using the two motors because the robot has less degrees of freedom than the number of joints. Therefore it is required to know the possible location and orientation along with the velocity characteristics of each pose prior to motion planning. For this purpose, this paper analyzes the characteristics of the robot motion. The authors derive the forward and inverse kinematics of the robot motion and developed the trajectory editor for motion planning. Also, Jacobian of the robot is analyzed. It reveals that one of the actuator has little influence to the speed of the saddle motion while the other affects the speed of the saddle motion dominantly. The approach of the paper can be applied for the analysis of characteristics of a robot which has less number of actuators than that of joints.

지능형 헬스케어 승마로봇의 모션 메카니즘 개발 (Development of Motion Mechanisms for Health-Care Riding Robots)

  • 김진수;임미섭;임준홍
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2008년도 제39회 하계학술대회
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    • pp.1735-1736
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    • 2008
  • In this research, a riding robot system named as "RideBot" is developed for health-care and entertainments. The developed riding robot can follow the intention of horseman and can simulate the motion of horse. The riding robot mechanisms are used for many functions of attitude detection, motion sensing, recognition, common interface and motion-generations. This riding robot can react on health conditions, bio-signals and intention informations of user. One of the objectives of this research is that the riding robot could catch user motion and operate spontaneous movements. In this paper, we develope the saddle mechanism which can generate 3 degrees-of-freedom riding motion based on the intention of horseman. Also, we develope reins and spur mechanism for the recognition of the horseman's intention estimation and the bio-signal monitoring system for the health care function of a horseman. In order to evaluate the performance of the riding robot system, we tested several riding motions including slow and normal step motion, left and right turn motion.

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Integrated Human and Rob-ot Ergonomics의 측면에서 로보트의 동작제어 개선에 관한 연구 (A study on the improvement of the robot motion control as a part of the integrated human and robot ergonomics)

  • 이순요;권규식;홍승권
    • 대한인간공학회지
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    • 제9권1호
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    • pp.21-27
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    • 1990
  • Teaching Expert System/World Coordinate System(TES/WDS) was proposed to improve robot motion control. First, precise coordinate reading for getting the inherent data about position and posture of task objects was performed throgh the integrated image and fuzzy processing. Second, singularity and parameter limitation problems in getting the motion data about position and posture of robot in macro motion were solved by proposed geometric algorithm. Third, the unnecessary robot motion was also removed by the Robot Time and Motion (RTM) method and the Multi-Geometric Straight-Line Motion (MGSLM) method in micro motion. This results demonstrated reduction of the average teaching task time according to task order.

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미장로봇의 운동제어 (The Motion Control of Concrete Floor Finishing Robot)

  • 신동헌;한두호
    • 한국정밀공학회지
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    • 제16권8호
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    • pp.38-45
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    • 1999
  • The 2-trowel type concrete floor finishing robot can move in any direction by adjusting the posture or trowels without any wheels. Since the quality of the smoothed and polished concrete floor is determined by plastering speed, we need to control the velocity of the robot. However, we cannot use the typical motion control method because it is very difficult to measure the velocity of the robot, in contrast to the mobile robots with wheels. To overcome this difficulty, the following are studied in this paper: we found that the robot dynamics has the disturbance depending on its translational speed, and showed that there exists the saturated velocity of the robot which is set by the posture of the trowels, and obtained the relationship between the saturated velocity and the posture in the translation. The result enables us to control the motion of the robot only by adjusting the posture of trowels without measuring the velocity of the robot. Currently, we built the troweling robot and are experimenting its performance with the proposed motion control method.

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단순인체모델 기반 휴머노이드의 인간형 전신동작 생성 (Human-like Whole Body Motion Generation of Humanoid Based on Simplified Human Model)

  • 김창환;김승수;나성권;유범재
    • 로봇학회논문지
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    • 제3권4호
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    • pp.287-299
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    • 2008
  • People have expected a humanoid robot to move as naturally as a human being does. The natural movements of humanoid robot may provide people with safer physical services and communicate with persons through motions more correctly. This work presented a methodology to generate the natural motions for a humanoid robot, which are converted from human motion capture data. The methodology produces not only kinematically mapped motions but dynamically mapped ones. The kinematical mapping reflects the human-likeness in the converted motions, while the dynamical mapping could ensure the movement stability of whole body motions of a humanoid robot. The methodology consists of three processes: (a) Human modeling, (b) Kinematic mapping and (c) Dynamic mapping. The human modeling based on optimization gives the ZMP (Zero Moment Point) and COM (Center of Mass) time trajectories of an actor. Those trajectories are modified for a humanoid robot through the kinematic mapping. In addition to modifying the ZMP and COM trajectories, the lower body (pelvis and legs) motion of the actor is then scaled kinematically and converted to the motion available to the humanoid robot considering dynamical aspects. The KIST humanoid robot, Mahru, imitated a dancing motion to evaluate the methodology, showing the good agreement in the motion.

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Kinematics Analysis and Implementation of a Motion-Following Task for a Humanoid Slave Robot Controlled by an Exoskeleton Master Robot

  • Song, Deok-Hui;Lee, Woon-Kyu;Jung, Seul
    • International Journal of Control, Automation, and Systems
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    • 제5권6호
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    • pp.681-690
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    • 2007
  • This article presents the kinematic analysis and implementation of an interface and control of two robots-an exoskeleton master robot and a human-like slave robot with two arms. Two robots are designed and built to be used for motion-following tasks. The operator wears the exoskeleton master robot to generate motions, and the slave robot is required to follow after the motion of the master robot. To synchronize the motions of two robots, kinematic analysis is performed to correct the kinematic mismatch between two robots. Hardware implementation of interface and control is done to test motion-following tasks. Experiments are performed to confirm the feasibility of the motion-following tasks by two robots.

Wireless Interface of Motion between Human and Robot

  • Jung, Seul;Jeon, Poong-Woo;Cho, Hyun-Taek;Jang, Pyung-Soo;Cho, Ki-Ho;Kim, Jeong-Gu;Song, Duck-Hee;Choi, Young-Kwon
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2001년도 ICCAS
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    • pp.59.4-59
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    • 2001
  • In this paper, wireless interface of the motion between human and robot is implemented. The idea is that if a human who is equiped with device including accelerometer and rate-gyro sensor move his/her arm, then the robot follows human motion. The robot is designed as wheeled type mobile robot with two link arms. The robot´s basic movements such as forward, backward, left, right movement can be controlled from foot sensor which human steps on. Arm movements can be controlled by arm motion of human motion. In order to detect human motion, sensor data analysis from gyro and accelerometer has to be done. Data from sensors are transferred through wireless communication to activate the robot.

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매개변수를 이용한 $Labview^{(R)}$ 기반의 3축 SCARA로봇의 이종모션 제어 알고리즘 (Hybrid Motion Blending Algorithm of 3-Axis SCARA Robot based on $Labview^{(R)}$ using Parametric Interpolation)

  • 정원지;주지훈;이기상
    • 한국공작기계학회논문집
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    • 제18권2호
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    • pp.154-161
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    • 2009
  • In order to implement continuous-path motion on a robot, it is necessary to blend one joint motion to another joint motion near a via point in a trapezoidal form of joint velocity. First, the velocity superposition using parametric interpolation is proposed. Hybrid motion blending is defined as the blending of different two type's motions such as blending of joint motion with linear motion, in the neighborhood of a via point. Second, hybrid motion blending algorithm is proposed based on velocity superposition using parametric interpolation. By using a 3-axis SCARA (Selective Compliance Assembly Robot Arm) robot with $LabVIEW^{(R)}$ $controller^{(1)}$, the velocity superposition algorithm using parametric interpolation is shown to result in less vibration, compared with PTP(Point- To-Point) motion and Kim's algorithm. Moreover, the hybrid motion $algorithm^{(2)}$ is implemented on the robot using $LabVIEW^{(R)(1)}$ programming, which is confirmed by showing the end-effector path of joint-linear hybrid motion.

A Multi-Modal Complex Motion Authoring Tool for Creating Robot Contents

  • Seok, Kwang-Ho;Kim, Yoon-Sang
    • 한국멀티미디어학회논문지
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    • 제13권6호
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    • pp.924-932
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    • 2010
  • This paper proposes a multi-modal complex motion authoring tool for creating robot contents. The proposed tool is user-friendly and allows general users without much knowledge about robots, including children, women and the elderly, to easily edit and modify robot contents. Furthermore, the tool uses multi-modal data including graphic motion, voice and music to simulate user-created robot contents in the 3D virtual environment. This allows the user to not only view the authoring process in real time but also transmit the final authored contents to control the robot. The validity of the proposed tool was examined based on simulations using the authored multi-modal complex motion robot contents as well as experiments of actual robot motions.

ROBOT MODAPTS기법에 의한 로보트의 동작분석에 관한 연구 (A study on the robot motion analysis by the ROBOT MODAPTS techhique)

  • 권규식;이순요
    • 대한인간공학회지
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    • 제11권2호
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    • pp.15-21
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    • 1992
  • This paper presents the ROBOT MODAPTS(Modular Arrangement of Predetermi- ned Time Standards) technique which can be applied to the robot motion analysis. Robot motions are easily divided into several movement activities and terminal activi- ties by means of the ROBOT MODAPTS technique Each link of robot arm is numbered such that finger is 1, hand is 2, elbow is 3, and so on. The robot motion time of each link is counted by multipling its given number to some time values observed at the finger movement. We can easily estimate robot teaching task time with this technique. This technique can be applied efficiently to establishing an adaptable robot motion ergonomically.

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