• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2010년도 추계학술대회 논문집
• /
• pp.827-828
• /
• 2010

• 한국소성가공학회:학술대회논문집
• /
• 한국소성가공학회 2008년도 추계학술대회 논문집
• /
• pp.54-54
• /
• 2008

• 한국자동차공학회논문집
• /
• 제7권6호
• /
• pp.156-164
• /
• 1999

The body structure of a bus is generally assembled by using various spot welded box sectional members. The shape of window pillar joint is ordinarily built up by T-type member. It has been shown that T-type member has problems like high stress concentrations, low fatigue strength and low structural rigidity. In this study, to solve these problems a new approach to optimize the design of the bus window pillar joint was tried by FEM analysis and experiments. To describe the shape of the gusset connecting the vertical and horizontal members of the T-type window pillar joint B-spline curve was adopted and this curve was optimized . It was found that the new model developed could effectively improve fatigue durability an structural rigidity.

• ETRI Journal
• /
• 제38권2호
• /
• pp.337-346
• /
• 2016

We propose a data-driven kinematic control method for a robotic spatial augmented reality (RSAR) system. We assume a scenario where a robotic device and a projector-camera unit (PCU) are assembled in an ad hoc manner with loose kinematic specifications, which hinders the application of a conventional kinematic control method based on the exact link and joint specifications. In the proposed method, the kinematic relation between a PCU and joints is represented as a set of B-spline surfaces based on sample data rather than analytic or differential equations. The sampling process, which automatically records the values of joint angles and the corresponding external parameters of a PCU, is performed as an off-line process when an RSAR system is installed. In an on-line process, an external parameter of a PCU at a certain joint configuration, which is directly readable from motors, can be computed by evaluating the pre-built B-spline surfaces. We provide details of the proposed method and validate the model through a comparison with an analytic RSAR model with synthetic noises to simulate assembly errors.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
• /
• pp.92-97
• /
• 1988

The path planning is done at the joint level. Cubic spline functions are used for constructing joint trajectories for industrial robots. For N-joint robot, Cartesian knots are transformed into N sets of joint displacements, with one set for each joint. For industrial application the speed of operation affects the productivity. An algorithm is developed to schedule the time intervals between each pair of adjacent knots such that the total traveling time is minimized subject to the physical constraints on joint velocties acceleration and jerks.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1989년도 추계학술대회 논문집 학회본부
• /
• pp.462-466
• /
• 1989

This paper describes the methods of spline low-order polynomial trajectory planning using only a few limited look-ahead knots on the desired trajectory for the real-time computing. Specifically presented are the mixed joint trajectory planning methods which apply linear or LSPB method to initial and finial segments, overlapped cubic spline method to the other segments, where the displacements for initial and finial segments are chosen to be relatively smaller than the displacements for the other, equidistant segments. Experimental and simulation results of these methods show smooth motions and improved path tracking performances compared with any other interpolated joint trajectory planning methods.

• 한국컴퓨터정보학회:학술대회논문집
• /
• 한국컴퓨터정보학회 2020년도 제62차 하계학술대회논문집 28권2호
• /
• pp.517-518
• /
• 2020

이 연구는 3D 그래픽의 로프 시뮬레이션이나 3D 캐릭터의 포니테일 등 Joint들이 복잡하게 꼬이는 상황에서Joint들의 Up-Vector에 대해 이상적으로 꼬이지 않는(Twist-free) 회전을 계산하는 연구이다. 꼬이지 않는 방향은 이상적인 기준점이 될 수 있어서 Twist 연출에 다양한 응용을 할 수 있는 시발점이 된다.

• 한국정밀공학회지
• /
• 제22권11호
• /
• pp.182-189
• /
• 2005

The human knee joint is the intermediate joint of the lower limb that is the largest and most complex joint in the body. Understanding of joint-articulating surface motion is essential for the joint wear, stability, mobility, degeneration, determination of proper diagnosis and so on. However, many studies analyzed the passive motion of the lower limb because of the skin marker artefact and some studies described medial and lateral condyle of a femur as a simple sphere due to the complexity of geometry. Thus, in this paper, we constructed a three-dimensional geometric model of the human knee from the geometry of its anatomical structures using non-uniform B-spline surface fitting as a study for the kinematic analysis of more realistic human knee model. In addition, we developed and verified 6-DOF contact model of the human knee joint using $C^2$ continuous surface of the inferior region of a femur, considering the relative motion of shank to thigh during locomotion.

• 한국항행학회논문지
• /
• 제11권2호
• /
• pp.209-216
• /
• 2007

본 논문에서는 보행 로봇의 자세 안정화 및 동적 걸음새를 구현하였다. 10개의 RC 서보모터가 로봇 관절에 사용되었고, 각 로봇의 관절은 어떤 걸음새 동작에도 충분히 움직일 수 있게 하였다. 각 관절 궤적은 3차 스플라인 보간법에 의해 생성되며, 궤적의 안정성은 로봇 모델링에 의한 ZMP(Zero Moment Point)를 이용하여 입증하였다. 또한 복잡한 구조와 표현을 피하기 위해 각 가속도를 이용한 ZMP방법을 구현 하였고, 로봇의 안정 상태를 측정하기 위해 기울기 센서와 자이로 센서가 사용되었다. 10개의 서보모터 제어, 궤적 생성, ZMP 보상, 센서 측정 등 과 같은 대부분의 계산 과정은 DSP에서 이루어지며, PC에서는 단순히 로봇의 상태, 데이터 처리 등의 모니터링에 이용하였다.

• Tribology and Lubricants
• /
• 제25권4호
• /
• pp.256-260
• /
• 2009

Fretting is a kind of wear which effects on reliability and durability. When machine parts are joined joint in parts such as a bolt or a rivet or a pin, fretting phenomenon is occurred by micro relative movement. When fretting occurs in joint parts, there is wear which is the cause of fatigue crack. Recently, although the ways of assessment of fatigue and damage tolerance are established, there is no way to evaluate fatigue crack initiation life by fretting phenomenon. Consequently, the prediction of life and prevention plan caused by fretting are needed to improve reliability. The objective of this paper is to predict fretting wear by using a experimental method and contact analysis considering wear process. For prediction of fretting wear volume, systematic and controlled experiments with a disc-plate contact under gross slip fretting conditions were carried out. A modified Archard equation is used to calculate wear depths from the contact pressure and stroke using wear coefficients obtained from the disc-plate fretting tests.