• Journal of the Korean Society for Precision Engineering
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• v.13 no.2
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• pp.94-101
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• 1996

The equations of motion for a basic industrial robotic system which has a rigid or a flexible arm are derived by Lagrange's equation, respectively. Especially, for the deflection of the flexible arm, the assumed mode method is employed. These equations are highly nonlinear equations with nonlinear coupling between the variables of motion. In order to design the control law for the rigid-arm robot, Hunt-Su's nonlinear transformation method and Marino's feedback equivalence condition are used with linear quadratic regulator(LQR) theory. The control law for the rigid-arm robot is employed to input the desired path and to provide the required nonlinear transformations for the flexible-arm robot to follow. By using the implicit Euler method to solve the nonlinear equations, the comparison of the motions between the flexible and the rigid robots and the effect of flexibility are examined.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.343-347
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• 1992

In this paper, an unilateral teleoperation system using an universal master arm is developed. This system is composed of an universal master arm, a slave arm and a telerobot controller. The universal master arm has a vertically articulated type link structure, while an industrial robot is used as a slave arm. As the shapes of master arm and slave arm are different, the workspace mapping is needed, which maps the workspace of master arm to that of slave arm. Experimental results show that the slave arm of the developed system effectively follows the operator's motion.

• Journal of the Korean Society of Safety
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• v.29 no.1
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• pp.41-46
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• 2014

The design of a 7 degree of freedom motion capture device(MCD) has been presented. The newly designed MCD overcomes the shortcomings of the existing CADEN-7 exoskeleton robot by implementing various ergonomic design. To improve ease of operation, light-weight high-strength materials such as carbon pipes and engineering plastics were used to reduce weight of the MCD and arm-length adjustment mechanism was also added. The MCD showed consistent measurement results in designed experiments involving change of arm posture from nominal configuration to either elbow-side or arm-front configurations. Furthermore, captured motion in more natural tennis swing appeared to agree well with visual observations made.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.212-217
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• 1993

In this paper, characteristics of the motions of a human arm are investigated experimentally. When the conditions of the target point are restricted, human adjusts its trajectory and velocity pattern of the arm to fit the conditions skillfully. The purpose of this work is to examine the characteristics of the trajectory, velocity pattern, and the size of the duration in the following cases. First, we examine the case of point-to-point motion. The results are consistent with the minimum jerk theory. However, individual differences in the length of the duration can be observed in the experiment. Second, we examine the case which requires accuracy of positioning at the target point. It is found that the velocity pattern differs from the bell shaped pattern explained by the minimum jerk theory, and has its peak in the first half of the duration. When higher accuracy of the positioning is required, learning effects can be observed. Finally, to examine the case which requires constraint of the arm posture at the target point, we conduct experiments of a human trying to grasp a cup. It is considered that this motion consists of two steps : one is the positioning motion of the person in order to start the grasping motion, the other is the grasping motion of the human's hand approaching toward the cup and grasping it. In addition, two representative velocity patterns are observed : one is the similar velocity pattern explained in the above experiment, the other is the velocity pattern which has its relative maximum in the latter half of the duration.

• Korean Journal of Applied Biomechanics
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• v.17 no.1
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• pp.175-184
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• 2007

The first purpose of this study was to compare kinematic variables during spinning motion with or without upper extremity and identify the most effective spinning method. The second purpose of this study was to compare functional difference between novice and elite dancers with the term of training. Ten experienced female dancers and ten novices were recruited as subjects for this study. Elite group was asked to perform turn motion with three types of upper extremity. Novice group has taken training of spotting technique for five weeks. Four Falcon HiRES cameras were used to analyze kinematic variables including head angular velocity and CG displacement during spinning. These data were sampled before training, after 3-week, and 5-week of training. Eight different events in two consecutive turns were defined for statistical comparison. One-way ANOVA was performed to compare among the kinematics of turning motion with three types of upper extremity. Independent t-test also used to compare kinematics between elite and novice at three different length of training. As results, spinning with both arm increased angular velocity and stability compared to the turning motion with one arm or with arm strapped and found out that the turn with both arm was the most effective way of spin. Also, for novice dancers, three weeks of training were needed to complete spinning motion.

• Journal of Biosystems Engineering
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• v.19 no.3
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• pp.163-174
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• 1994

This study was conducted to investigate the dynamic motion of knife drive system of combine harvester. A computer program was developed to simulate the dynamic motion of the knife drive linkage and its algorithm was evaluated through experiments. The results are summarized as follows : 1. The theorectical horizontal (the direction of knife's reciprocating motion) reaction forces at the supporting point of rocker arm and crank arm were changed in the similar sinusoidal trends with the measured reaction forces. 2. The maximum values of shaking moment and reaction force per one revolution of crank arm followed polynomial trends as the rotational speed of crank shaft increased. The unbalanced force acting on the driving system increased at high speed. Therefore, the rotational speed of crank shaft should be maintained in proper range at increased forward speed to decrease vibration of the knife drive system. 3. The added mass to the crank arm increased the dynamic unbalanced force at the supporting point of rocker arm. It counterbalanced the reaction force at the supporting point of crank arm.

• Journal of the Korean Home Economics Association
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• v.37 no.11
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• pp.49-58
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• 1999

This study is to develop the well-fit brassieres by observing the changes in the breast sizes and shapes, the surface area of the breast through the arm movements of 3 types (0$^{\circ}$ , 90$^{\circ}$ and 180$^{\circ}$) in vortical motion. The 11 elementary girls who are aged 12 participated in this experiment. To obtain the measures regarding the surface area of the breast, replicas are made at each motion. The results of this study are as fellows: 1. The changes in the breast sizes and shapes at each motion By increasing the motions of the arm movement, the following measure items are inclined to decrease: Shoulder length, Upper blast girth, Bust girth, Under bust girth, Upper bust depth, Bust depth, Under bust depth, Nipple to nipple breadth, Horizontal distance of bust, Horizontal length of the cup, Bust height, Cup size. By increasing the motions of the arm movement, the fellowing measure items are inclined to increase: Center point of shoulder~B.p., Shoulder point~B.p., Center point of shoulder~armpit, Upper Bust breadth, Bust breadth, Under bust breadth, Vertical distance of Bust. 2. The changes in the surface area of breast at each motion By making the replica to observe changes in the surface area, which are sectioned to 4 parts(area 1 to area 4), and volume of breast at each motion, the results are as follows: At 0$^{\circ}$and 180$^{\circ}$, the sizes of each part are ordered as the following: area2>area1>area4> area3. At 90$^{\circ}$, the sizes of each part are ordered as the following: area2>area1>area3>area4. Through these orders, it is found that the upper and inside part of the breast huts the inclination to increase so along as the motions of the arm movement increase. Also, the total surface area increases so long as the motions of the arm movement increase. As a reset of the F-test on the changes in the each surface areas, the surface area by arm movements, the significant differences among the each surface areas are found.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.9
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• pp.796-802
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• 2000

A master-slave system for teleoperation is usually used to control the robor's motion on remote place such as abyss, outer space etc.. When the slave robot is a humanoid one, it can make a better performance if the configuration of the master arm is similar to that of the slave arm and of the human. The master arm proposed in this paper has a type to be put on the human arm, that is, the exoskeleton type, and has a combination of serial joint and parallel mechanism imitating the human's arm structure of muscles and bones, so called hybrid mechanism so that it can follow arm's movement effectively. But it is easy to solve the forward kinematis of the parallel structure because relating equations are implicit functions. In order to solve that, the virtual joint angle corresponding to human arm's joint is introduced and a sequential computation step is employed in calculating virtual joint angles and the posture of the end effector. Also validity is checked up through computational simulation.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1036-1041
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• 1993

The tip of the flexible robot arm has to be controlled by the active control reducing vibration because it has residual vibration after getting to desired position. This paper presents an end-point position control of a 1-link flexible robot arm having tip mass by the PID control algorithm. The system is composed of a flexible arm with tip mass, dc servomotor and ballscrew mechanism under translational motion. The feedback signal composed of the tip displacement measured by laser sensor, estimated velocity and acceleration is used to control the base motion. Theoretical results are obtained by applying the Laplace transform and the numerical inversion method to the governing equations. After the flexible robot arm reaches to. the desired position, the residual vibration is controlled by the PID algorithm. This paper gives the simulation and experimental results of end-point responses according to changing tip-mass and arm length. And this algorithm shows good effects of reducing the residual vibration. Approximately, theoretical response is in good agreement with experimental one.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.9-13
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• 1997

This parer is a study on the inverse dynamics of a one-link flexible robot arm which is controlled by translational base motion. The system is composed of a flexible arm, a base for driving arm, a DC servomotor, and a computer. The arm base is moved so that the arm tip follows a desired function. The governing equations are based on the Bernoullie-Euler beam theory and solved by applying the Laplace transform method and then the numerical inversion method. Moter voltage is obtained by simulation for tip trajectory functions i. e. Bang-Bang, Cosine and Gauss Function. And, the tip motion is measured while simulation results are applying. Then the results are investigated to select most proper input and to compare their chateristics. Experimental results show the Cosine function is most proper with respect to low maximum voltage and steady state error.