• Journal of Welding and Joining
• /
• v.27 no.6
• /
• pp.55-61
• /
• 2009

This study aims for determination of cutting work envelope of an articular robot for H-beam cutting. The robot has its own work envelope. The cutting of piece with groove requires the specific position of the torch which contracts the work envelope. This study suggested the new method to determine the cutting work envelope for this case. The method simplified the problem by use of the combination of inverse kinematics and forward kinematics. The method was used for cutting the H-beam with groove. The cutting work envelope was determined easily. The result was verified by 3D simulation system which implements the articular robot with 6 axes and the H-beam in the virtual shop.

• Journal of Bio-Environment Control
• /
• v.13 no.1
• /
• pp.1-7
• /
• 2004

This study is kinematics for the manipulator development of cucumber harvesting. A theory value was verified by repeated error measurement after the forward kinematics or inverse kinematics analysis of manipulator. Manipulator is consisted of one perpendicular link and two revolution link. The transformation of manipulator can be valued by kinematics using Denavit-Hartenberg parameter. The value of inverse kinematics which is solved by three angles faction shows two types. Repeated errors refered maximum 2.60 mm, 2.05mm and 1.55 mm according to X, Y, Z axis. In this study, the actual coordinates of maximum point and minimum point were agreement in the forward kinematics or inverse kinematics. The results of repeated error measurement were reflect to be smaller compared to a diameter of cucumber. measurement errors were determined by experimented errors during the test. For reducing errors of manipulator and improving work efficiency, the number of link should be reduced and breeding and cultural environment should be considered to reduce the weight and use the hard stuff. The velocity of motor for working should be considered, too.

• Journal of the Ergonomics Society of Korea
• /
• v.14 no.2
• /
• pp.33-39
• /
• 1995

The inverse Kinematics can be used for representing the motion of human body model. In order to find the final figure of the human body model with given target position, we can uwe the formula x=J .THETA. , where J is the Jacobian matrix of x=f( .THETA.), of the Inverse Kinematics. In this formula, f has so complicated form that it is difficult to calcuate the Jacobian matrix J by expanding all formulae exactly. In this paper, a numerical method that calculates the Jacobian matrix is proosed. The simulation results obtained by using the simple human model reprsent that the proposed. The simulation results obtained by using the simple human model represent that the proposed method is useful for generating the final figure of the body model.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2013.05a
• /
• pp.61-62
• /
• 2013

• Proceedings of the Korean Society of Computer Information Conference
• /
• 2015.01a
• /
• pp.187-188
• /
• 2015

본 논문에서는 IK 리깅을 이용한 캐릭터 콘텐츠 영상 제작을 제안한다. IK 콘텐츠를 2D와 3D로 제작할 수 있는데 본 연구에서는 2D로 캐릭터의 이미지를 레이어로 제작하고, IK의 bone은 스크립트로 생성하였다. 따라서 인체의 각 관절에 해당하는 부위에 리깅을 부여하여 자유로운 캐릭터를 제작하였고, 이러한 캐릭터의 제작은 모션 캡처 제작비용에 비해서 상당히 비용부담이 적은 경제성을 나타내고, 다양한 영역에서 활용 할 수 있다고 사료한다.

• Proceedings of the Korea Society for Simulation Conference
• /
• 1999.04a
• /
• pp.147-151
• /
• 1999

This paper extends and enhances the existing inverse kinematics technique using the concept of motion characteristic capturing. Motion characteristic capturing is not about measuring motion by tracking body points. Instead, it starts from pre-measured motion data, extracts the motion characteristics, and applies them in animating other bodies. The resulting motion resembles the originally measured one in spite of arbitrary dimensional differences between the bodies. Motion characteristics capturing is a new principle in kinematic motion generalization to process measurements and generate realistic animation of human being or other living creatures.

• Journal of the Korean Society for Precision Engineering
• /
• v.32 no.3
• /
• pp.253-261
• /
• 2015

A parallel mechanism with redundancy can be regarded as a means for not only maximizing the benefits of parallel mechanisms but also overcoming their drawbacks. We proposed a novel parallel mechanism by eliminating an unnecessary degree of freedom of the configuration space. Because of redundancy, however, the solution for the inverse kinematics of the developed parallel mechanism is infinite. Therefore, we defined a cost function that can minimize the movement time to the target orientation and found the solution for the inverse kinematics by using a numerical method. In addition, we proposed a method for determining the boundary of the geometric singularity in order to avoid singularities.

• Journal of the Korean Society for Precision Engineering
• /
• v.23 no.7 s.184
• /
• pp.76-83
• /
• 2006

In this paper, an analysis on a new robot manipulator developed for the side buffing of the shoes is presented. The robot manipulator is composed of five degrees of freedom. An analysis on the forward and inverse kinematics was performed. Through the analysis, an analytic solution was derived for the joint angles corresponding to the position and orientation of the tool in the Cartesian coordinates. The hardware system of the robot composed of the control system, input/output interface system, and related electronic system was developed. The communication system was also developed to interact the robot with the related surrounding systems. A graphic user interface(GUI) program including the forward/inverse kinematics, control algorithm, and communication program was developed using visual C++ language.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.30 no.6 s.249
• /
• pp.643-652
• /
• 2006

This paper is concerned with computer simulations of a biped robot walking in static and dynamic gaits. To this end, a three-dimensional robot is considered possessing a torso and two identical legs of a typical design. For such limbs, a set of inverse kinematic solutions is analytically derived between the torso and the feet. Specific walking patterns are off-line generated meeting stability based on the VPCG or ZMP condition. Subsequently, to verify whether the robot can walk as planned in the presence of mass and ground effects, a multi-body dynamics CAE code has been applied to the resulting joint motions determined by inverse kinematics. As a result, the key parameters to successful gaits could be identified including inherent characteristics as well. Upon comparisons between the two types of gaits, dynamic gaits are concluded more desirable for larger humaniods.

• ETRI Journal
• /
• v.40 no.4
• /
• pp.511-521
• /
• 2018

The ability to realize human-motion imitation using robots is closely related to developments in the field of artificial intelligence. However, it is not easy to imitate human motions entirely owing to the physical differences between the human body and robots. In this paper, we propose a work chain-based inverse kinematics to enable a robot to imitate the human motion of upper limbs in real time. Two work chains are built on each arm to ensure that there is motion similarity, such as the end effector trajectory and the joint-angle configuration. In addition, a two-phase filter is used to remove the interference and noise, together with a self-collision avoidance scheme to maintain the stability of the robot during the imitation. Experimental results verify the effectiveness of our solution on the humanoid robot Nao-H25 in terms of accuracy and real-time performance.