• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.101-106
• /
• 2003

In the area of tracking control, it is important to design not only the controllers but also the trajectories to which a system has to follow. $5^{th}$ order polynomial is often used with constraints of initial and final states. Smooth ending with possible minimum time is important for many systems because of vibration or jerky motions. Examples are increased with development of technology in smaller, more accurate systems. On the base of a polynomial like trajectory generation method from a paper in ACC2002 and RIC(Robust Internal-loop Compensator) control scheme of Robotics and Bio-mechanics lab. of POSTECH, generalized and expanded polynomial like trajectory generation method is showed.

• 전자공학회논문지B
• /
• 제30B권10호
• /
• pp.50-58
• /
• 1993

The problem of trajectory planning in two redundant robot systems is considered. The trajectory of each robot for the cooperative task is generated so that the robots assume their optimal configurations while following a given desired task. The cooperative task compatibility in and the weighted sum of manipulabilities are proposed and investigated as quality measures. The cooperative task compatibility includes the velocity and force transmission charateristics to the task requirements and so it measures the compatibilities of robot postures with respect to a given task. The weighted sum of manipuabilities of robot postures with respect to a given task. The weighted sum of manipulabilities is also considered as a quality measure since it is helpful to avoid singularities. The usefulness of the cooperative task compatibility and the weighted sum of manipulabilities are shown by computer simulation studies.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2000년도 추계학술대회 논문집
• /
• pp.60-63
• /
• 2000

In this study, efficient force reflection algorithm is developed for the Haptic Display by using a proxy concept and friction model. When there are not any contacted obstacles the proxy is following human operator's command trajectory in the 3D virtual space. But when the operator's command trajectory is locating inside of the object, the proxy is constrained by the surface of the object. Here only with the information of the proxy position and operator's command trajectory at every time step, we can calculate the reflection force and its orientation. To display the friction force between two virtual stiff material which are sliding against each other, modified Karnopp's friction model is used. In the friction model, a damping term and a Stribeck effect term are included to display the relative velocity effect and stick-slip effect at the very low relative velocity region respectively.

• 대한기계학회논문집A
• /
• 제33권8호
• /
• pp.779-785
• /
• 2009

This paper is concerned with a computational approach for topology optimization of geometrically nonlinear structures following specific load-displacement trajectories. In our previous works, attention was paid to stabilize topology optimization involving large displacement and a method called the element connectivity parameterization was developed. Here, we aimed to extend the element connectivity parameterization method to find an optimal geometrically nonlinear structure yielding a specific load-displacement trajectory. In contrast to designing a stiffest structure, the trajectory design problem requires special consideration in topology optimization formulation and solution procedure. Some numerical problems were considered to test the developed element connectivity parameterization based formulation.

• Journal of Biosystems Engineering
• /
• 제25권2호
• /
• pp.141-150
• /
• 2000

This study was carried out to de develop a control strategy of a fruit harvesting redundant robot. The method of generating a safe trajectory, which avoids collisions with obstracles such as branches or immature fruits, in the 3D(3-dimension) space using artificial potential field technique and virtual plane concept was proposed. Also, the method of setting reference velocity vectors to follow the trajectory and to avoid obstacles in the 3D space was proposed. Developed methods were verified with computer simulations and with actual robot tests. Fro the actual robot tests, a machine vision system was used for detecting fruits and obstacles, Results showed that developed control method could reduce the occurrences of the robot manipulator located in the possible collision distance. with 10 virtual obstacles generated randomly in the 3 D space, maximum rates of the occurrences of the robot manipulator located in the possible collision distance, 0.03 m, from the obstacles were 8 % with 5 degree of freedom (DOF), 8 % with 6-DOF, and 4% with 7-DOF, respectively.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• 제4권1호
• /
• pp.101-110
• /
• 2004

The robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, humans and robots need to be in close proximity to each other as much as possible. Moreover, it is necessary for their interactions to occur naturally. It is desirable for a robot to carry out human following, as one of the human-affinitive movements. The human-following robot requires several techniques: the recognition of the moving objects, the feature extraction and visual tracking, and the trajectory generation for following a human stably. In this research, a predictable intelligent space is used in order to achieve these goals. An intelligent space is a 3-D environment in which many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents providing humans with services. A mobile robot is controlled to follow a walking human using distributed intelligent sensors as stably and precisely as possible. The moving objects is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time trajectory to follow the walking human, the linear and angular velocities are estimated and utilized. The computer simulation and experimental results of estimating and following of the walking human with the mobile robot are presented.

• 한국운동역학회지
• /
• 제23권4호
• /
• pp.319-326
• /
• 2013

The objective of this study is to help golfers to select adequate putters and to provide golfers basic scientific data for improving athletic performance by showing differences of kinematic variables according to the shape of putter head. In this research three right-handed male pro-golfer who are listed at KPGA were studied and three video camera (GR-HD1KR, JVC, Japan) were used and recording speed was 60 frame/sec during the research. In this study kinematic variables were calculated using Kwon3D XP program and analysed on the 4 events and 3 phases. This study showed the following results : (1) The swing of heel-toe putter showed longer time than that of face balanced putter, and there are statistical significant difference of kinematic variables of each objective (2) As of the trajectory of putter head, heel-toe putter showed more approximating curve trajectory than that of in-between, face balanced putter on the X-axis (3) heel-toe putter showed longer distance follow-through than that of other putters by statistically significant difference on the Y-axis (4) Heel-toe putter showed longer distance swing trajectory over the ground than that of other putters by statistically significant difference on the Z-axis.

• 제어로봇시스템학회논문지
• /
• 제19권11호
• /
• pp.1036-1042
• /
• 2013

In this paper, an elderly assistance system is developed based on Xenomai, a real-time development framework cooperating with the Linux kernel. A Kinect sensor is used to recognize the behavior of the elderly and A-star search algorithm is implemented to find the shortest path to the person. The mobile robot also generates a trajectory using a digital convolution operator which is based on a Bezier curve for smooth driving. In order to follow the generated trajectory within the control period, we developed real-time tasks and compared the performance of the tracking trajectory with that of non real-time tasks. The real-time task has a better result on following the trajectory within the physical constraints which means that it is more appropriate to apply to an elderly assistant system.

• International Journal of Precision Engineering and Manufacturing
• /
• 제5권1호
• /
• pp.27-35
• /
• 2004

In the field of machine vision using a single camera mounted on a mobile robot, although the detection and tracking of moving objects from a moving observer, is complex and computationally demanding task. In this paper, we propose a new scheme for a mobile robot to track and capture a moving object using images of a camera. The system consists of the following modules: data acquisition, feature extraction and visual tracking, and trajectory generation. And a single camera is used as visual sensors to capture image sequences of a moving object. The moving object is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the active camera. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time trajectory to capture the moving object, the linear and angular velocities are estimated and utilized. The experimental results of tracking and capturing of the target object with the mobile robot are presented.

• Journal of Astronomy and Space Sciences
• /
• 제38권2호
• /
• pp.105-117
• /
• 2021

In this study, a preliminary trajectory design is conducted for a conceptual spacecraft mission to a near-Earth asteroid (NEA) (99942) Apophis, which is expected to pass by Earth merely 32,000 km from the Earth's surface in 2029. This close approach event will provide us with a unique opportunity to study changes induced in asteroids during close approaches to massive bodies, as well as the general properties of NEAs. The conceptual mission is set to arrive at and rendezvous with Apophis in 2028 for an advanced study of the asteroid, and some near-optimal (in terms of fuel consumption) trajectories under this mission architecture are to be investigated using a global optimization algorithm called monotonic basin hopping. It is shown that trajectories with a single swing-by from Venus or Earth, or even simpler ones without gravity assist, are the most feasible. In addition, launch opportunities in 2029 yield another possible strategy of leaving Earth around the 2029 close approach event and simply following the asteroid thereafter, which may be an alternative fuel-efficient option that can be adopted if advanced studies of Apophis are not required.