• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1764-1769
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• 1991

Recently, dexterous mechanical hands have become of interest in the field of robotics. In this paper, a new symbolic C-Y notation is proposed for the kinematic modeling, and we solve the kinematics of a simplified model of POSTECH Hand 1, which is a 5 fingered, 20 degrees of freedom anthropomorphic hand. POSTECH Hand I is designed to have distinctive kinematic structure and the kinematic analysis of the hand is carried out using C-Y notation. To prove the feasibility of C-Y notation, D-H notation is also applied to the POSTECH Hand 1. In the inverse kinematic analysis, we neglect the fingertip geometry and assume the point contact with 3 degrees of freedom constraints. The configurations which optimize manipulability index[2] was obtained based on the simulation experiments on the SUN-4 graphic workstation using SUNPhigs graphic software.

• 한국정밀공학회지
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• 제32권4호
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• pp.377-386
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• 2015

Joint force/torque estimation by inverse dynamics is a traditional tool in biomechanical studies. Conventionally for this, kinematic data of human body is obtained by motion capture cameras, of which the bulkiness and occlusion problem make it hard to capture a broad range of movement. As an alternative, inertial motion sensing using cheap and small inertial sensors has been studied recently. In this research, the performance of inertial motion sensing especially to calculate inverse dynamics is studied. Kinematic data from inertial motion sensors is used to calculate ground reaction force (GRF), which is compared to the force plate readings (ground truth) and additionally to the estimation result from optical method. The GRF estimation result showed high correlation and low normalized RMSE(R=0.93, normalized RMSE<0.02 of body weight), which performed even better than conventional optical method. This result guarantees enough accuracy of inertial motion sensing to be used in inverse dynamics analysis.

• 대한기계학회논문집A
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• 제20권7호
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• pp.2205-2212
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• 1996

In order to move the body of a walking robot translationally, and step over the obstacles, the walking robot must have at least 3 degrees of freedom for each leg. Therefore each leg of the general walking robots can be composed of 3-link system with 3 revolute joints. In this paper, the colsed form of inverse kinimatic solutions is shown for this general 3R linkage. Moreover, in order to have efficient walking volume in rough terrain, the workspace of each log is obtained considering the twist angles and the offsets in D-H parameters. When we design a walking robot, the information of the walking volume is needed for planning desired trajectories of the feet effectively. Appropriate knowledge of the walking volume can also be used to maximize linear or angular velocity of minimize power of stress. However, since it is impossible to obrain the information of walking volume in 3-D space directly from the kinematic equations, the walking volume can be searched through the edge detection algorithm using the triangle tracer with closed from inverse kinematic solutions. In this study, we present the closed form inverse kinematic solutions for 3R linkage model, and the walking volume of 6 legged walking robot which is modeled after the darking bettle, Eleodes obscura sulcipennis, through the method of edge detection for an arbitrary 2 dimensional shape using triangle tracer.

• 대한의용생체공학회:의공학회지
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• 제28권6호
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• pp.744-749
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• 2007

Kinematic and kinetic analysis has been performed for Soft Golf swings utilizing realistic three dimensional computer simulations based on three dimensional motion tracking data. Soft Golf is a newly developed recreational sport in South Korea aimed to become a safe and easy-to-learn sport for all ages. The advantage of Soft Golf stems from lighter weight of the club and much larger area of the sweet spot. This paper tries to look into kinematic and kinetic aspects of soft golf swings compared to regular golf swing and find the advantages of lighter Soft Golf clubs. For this purpose, swing motions of older aged participants were captured and kinematic analysis was performed for various kinematic parameters such as club head velocity, joint angular velocity, and joint range of motions as a pilot study. Kinetic analysis was performed by applying kinematic data to computer simulation models constructed from anthropometric database and the measurements from the participants. The simulations were solved using multi-body dynamics solver. Firstly, the kinematic parameters such as joint angles were obtained by solving inverse dynamics problem based on motion tracking data. Secondly, the kinetic parameters such as joint torques were obtained by solving control dynamics problem of making joint torque to follow pre-defined joint angle data. The results showed that mechanical loadings to major joints were reduced with lighter Soft Golf club.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2154-2159
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• 2005

This paper presents the kinematic analysis of two robots, an exoskeleton type master robot and a human like slave robot with two arms. Two robots are designed and built to be equivalent as motion following robots. The operator wears the exoskeleton robot to generate motions, then the slave robot is required to follow after the motion of the master robot. However, different kinematic configuration yields position mismatches of the end-effectors. To synchronize motions of two robots, kinematic analysis of mapping is analyzed. The forward and inverse kinematics have been simulated and the corresponding experiments are also conducted to confirm the proposed mapping analysis.

• Journal of Mechanical Science and Technology
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• 제17권4호
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• pp.528-537
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• 2003

This paper proposes a 3-PPR planar parallel manipulator, which consists of three active prismatic Joints, three passive prismatic joints, and three passive rotational joints. The analysis of the kinematics and the optimal design of the manipulator are also discussed. The proposed manipulator has the advantages of the closed type of direct kinematics and a void-free workspace with a convex type of borderline. For the kinematic analysis of the proposed manipulator, the direct kinematics, the inverse kinematics, and the inverse Jacobian of the manipulator are derived. After the rotational limits and the workspaces of the manipulator are investigated, the workspace of the manipulator is simulated. In addition, for the optimal design of the manipulator, the performance indices of the manipulator are investigated, and then an optimal design procedure Is carried out using Min-Max theory. Finally. one example using the optimal design is presented.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.953-958
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• 1992

This paper deals with the solution of inverse kinematics of the industrial FANUC robot with IBM PC386. The inverse kinematics of FANUC robot cannot be solved by the algebraical method, because arm matirix T$_{6}$ is very complex and 6-joint angles are associated with the position and the approach of end-effector. Instead we fuund otehr 5-joint angle by and algebraical method after finding .THETA.$_{1}$ value by a numerical method.d.

• 한국정밀공학회지
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• 제17권4호
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• pp.203-208
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• 2000

2진 로봇 머니퓰레이터는 기하학적 형상이 가변트러스 구조로 되어 있으며 조인트의 구동원으로 사용되는 엑츄에이터는 2가지의 변위, 즉 최대 및 최소 변위만으로 동작한다. 따라서 작업영역은 연속적으로 주어지는 일반 로봇 머니퓰레이터와는 달리 유한 개의 위치 벡터의 집합 형태로 나타난다. 기존의 역기구학적 해석방법을 적용하기 어려운 2진 로봇 머니퓰레이터의 불연속적인 특성에 대해 새로운 작업영역과 역기구학 문제를 정의하였다. 유전 알고리즘을 사용하여 새로이 정의된 문제의 역기구학적 해석을 수행하였으며 유전 알고리즘이 2진 로봇 머니퓰레이터의 역기구학적 해석에 있어서 효과적이고 강건한 방법임을 보여주었다.

• 항공우주시스템공학회지
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• 제14권1호
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• pp.16-20
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• 2020

차량이 주행 중에 그리고 항공기가 활주로에 착륙하는 순간과 활주 중에 발생하는 피로는 착륙장치, 기체와 차량의 현가장치 등에 수명 주기와 밀접한 관련이 있다. 휠에 작용하는 하중들은 종축 힘, 횡력, 수직력과 제동력이다. 차량의 동특성과 내구성을 연구하기 위해 본 논문의 시뮬레이터는 시험실에서 실제 노면 형상을 재현에 사용된다. 그러므로 제품 개발 시간과 비용을 절감할 수 있다. 하드웨어적으로 유압 피로 시뮬레이터 구조의 중요한 요소는 각 축을 분리하고 여러 하중과 진동을 견뎌내는 것이다. 본 논문의 역기구학적 해석 방법은 Dummy wheel 중심에서 축 방향으로 최대 동작 변위를 준 후 커플링에 의한 유압 서보 작동기의 작동 크기를 도출한다. 해석의 결과는 실제 노면 형상을 정확하게 재현하기 위해 축 간의 커플링이 미약함을 확인하는 것이다.

• 대한기계학회논문집A
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• 제41권9호
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• pp.869-876
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• 2017

기계시스템을 제어한다든지 그 부재를 설계하기 위하여 그리고 구동기의 용량을 결정하는데 있어서 구동력이나 조인트반력을 해석하는 것이 필요하다. 본 논문은 주어진 시스템의 운동을 구현하는 다양한 형태의 구동조건에 따른 구동력(또는 토크)을 조인트좌표 공간에서 계산하는 알고리즘을 제시한다. 조인트좌표를 기구학적 시스템의 일반좌표로 사용하며 운동방정식과 구속조건의 가속도식은 속도변환법을 이용하여 직교좌표공간으로부터 조인트좌표공간으로 변환한다. 수치예제를 통하여 제시된 알고리즘의 유용성을 확인한다.