• 대한기계학회논문집
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• 제19권1호
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• pp.271-276
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• 1995

This paper presents a systematic method for the dynamic analysis of flexible mechanical systems containing closed kinematic loops. Kinematics between pairs of contiguous flexible bodies is described with the joint coordinates and the deformation modal coordinates. The cut-joint constraint equations associated with the closed kinematic loops are derived, simply using the geometric conditions. The equations of motions are initially written in terms of the joint and modal coordinates using the velocity transformation technique. Lagrange multipliers associated with the cut-joint constraints for closed-loop systems are then eliminated systematically using the generalized coordinate partitioning method, resulting to a minimal set of equations of motion.

• 대한기계학회논문집
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• 제12권6호
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• pp.1265-1272
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• 1988

본 연구에서는 속도변환을 이용하여 기본체(base body)가 움직이는 경우에 대 한 일반적인 운동방정식을 유도하고, 이를 적절히 변형시킴으로써 로봇분야에서 이미 유도된 식과 비슷한 반복형태의 식을 얻을 수 있음을 보임으로써, 기계의 동력학 분야 에서 사용하고 있는 속도변환의 방법이 기본체가 고정되어 있는 경우가 대부분인 로봇 분야에서도 적용될 수 있음을 보이고자 한다. 또한 유도된 반복형태식을 이용하여 개방연쇄계(open-loop system)로 이루어진 기계시스템의 동력학 시뮬레이션에 적합한 알고리즘을 만들고 자동차를 예제로 택하여 유도된 방법의 타당성과 효율성을 검토하 였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 춘계학술대회 논문집
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• pp.557-560
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• 2000

The Purpose of this study is analysis of kinematic for a modified manipulator and experimental test to certify auto-balancing operation. The test is carried out as follows. First, we solve the inverse kinematics and then do a closed loop control. Second we confirm translation displacement and rotation angle of a manipulator.

• 한국군사과학기술학회지
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• 제17권6호
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• pp.853-860
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• 2014

This paper introduces a Korean rescue robot and presents a whole body kinematic control strategy. The mission of the rescue robot is to move and lift patients or soldiers with impaired mobility in the battlefields, hospitals and hazardous environments. In order for a robot to rescue and assist humans, reliable mobility in various environments, large load carrying capacity, and dextrous manipulability are required. For these objects the robot has variable configuration mobile platform with tracks, dual arm manipulator, and two types of grippers. The electric actuators provide the strength to lift a wounded soldier up to 120 kg using whole body joints. To control the robot with multi degree of freedom, we need to synthesize complex whole-body behaviors, and to manage multiple task primitives systematically. We are to present a whole body kinematic control methodology, and demonstrate its effectiveness through numerical simulations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2000-2003
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• 2003

In recent years, robots have been used widely in industrial field and have been expanded as a result of continuous research and development for high-speed and miniaturization. The goal of this paper is to design the serial manipulator through kinematic analysis and to control the position and orientation of end-effector with respect to time. In general, a structure of industrial robot consists of several links connected in series by various types of joints, typically revolute and prismatic joints. The movement of these joints is determined in inverse kinematic analysis. Compared to the complicated structure of parallel and hybrid robot, open loop system retains the characteristic that each link is independent and is controlled easily. AC servo motor is used to place the robot end-effector toward the accurate point with the desired speed and power while it is operated by position control algorithm. The robot end-effector should trace the given trajectory within the appropriate time. The trajectory of end-effector can be displayed on the monitor of general personal computer through Opengl program.

• 제어로봇시스템학회논문지
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• 제16권4호
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• pp.319-328
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• 2010

This paper proposes a robust adaptive fuzzy tracking control scheme for a nonholonomic mobile robot with external disturbances as well as parameter uncertainties in the robot kinematics, the robot dynamics, and the actuator dynamics. In modeling a mobile robot, the actuator dynamics is integrated with the robot kinematics and dynamics so that the actuator input voltages are the control inputs. The presented controller is designed based on a FBFN (Fuzzy Basis Function Network) to approximate an unknown nonlinear dynamic function with the uncertainties, and a robust adaptive input to overcome the uncertainties. When the controller is designed, the different parameters for two actuator models in the actuator dynamics are taken into account. The proposed control scheme does not require the kinematic and dynamic parameters of the robot and actuators accurately. It can also alleviate the input chattering and overcome the unknown friction force. The stability of the closed-loop control system including the kinematic control system is guaranteed by using the Lyapunov stability theory and the presented adaptive laws. The validity and robustness of the proposed control scheme are shown through a computer simulation.

• 로봇학회논문지
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• 제13권2호
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• pp.129-141
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• 2018

This paper proposes a unified framework that overcomes four motion constraints including joint limit, kinematic singularity, algorithmic singularity and obstacles. The proposed framework is based on our previous works which can insert or remove tasks continuously using activation parameters and be applied to avoid joint limit and singularity. Additionally, we develop a method for avoiding obstacles and combine it into the framework to consider four motion constraints simultaneously. The performance of the proposed framework was demonstrated by simulation tests with considering four motion constraints. Results of the simulations verified the framework's effectiveness near joint limit, kinematic singularity, algorithmic singularity and obstacles. We also analyzed sensitivity of our algorithm near singularity when using closed loop inverse kinematics depending on magnitude of gain matrix.

• 한국지반공학회논문집
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• 제36권1호
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• pp.5-15
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• 2020

말뚝의 동적거동은 말뚝과 지반 사이의 동적 상호작용에 큰 영향을 받는다. 특히, 경사지반에 설치된 말뚝은 진동방향에 따른 지반저항력 차이, 지반 변위 등에 의해 말뚝-지반 동적상호작용이 매우 복잡해진다. 본 연구에서는 건조 사질토 경사지반에 설치된 단일말뚝과 2×2 무리말뚝에 대하여 동적 원심모형실험을 수행하였다. 그리고, 말뚝과 지반 변위 사이의 위상차 및 동적 p-y 곡선 등을 산정하여 경사지반, 단일말뚝과 무리말뚝, 입력가속도 진폭 등의 조건이 말뚝-지반 동적 상호작용에 미치는 영향을 분석하였다. 그 결과, 지반-말뚝 사이의 운동학적 힘이 말뚝의 동적거동에 큰 영향을 주며, 동적 p-y 곡선이 지반경사, 잔류변위, 운동학적 힘의 영향 등으로 매우 복잡한 형상을 보여주는 것으로 나타났다.

• 한국운동역학회지
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• 제14권3호
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• pp.177-189
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• 2004

Kinematic and kinetic analysis using 3D Motion Capture system are common, yet there is little in the literature that discuss the relationship and coactivity between muscles during the golf swing. The purpose of this study was to describe the relationship between the employed 16 muscles during golf swing. We could observe 3 muscle patterns such as 'Line' shape, 'L' shape, and 'Loop' shape for the golf swing activity. The 'Line' shape indicates that two muscles act almost perfectly in phase, and the 'L' shape represents that two muscles act in a reciprocating manner(When one is active, the other is quiescent and vice versa). And the 'Loop' shape indicates that two muscles act sequently(After one is active, the other act). In these results, we knew the muscle patterns during golf swing is similar to the patterns during gait. And we presented it was possible to show the consistence of golf swing through the frequency analysis of muscle patterns. We believe that the results potentially useful for the golf players and coaches to analyze their performance.

• 한국태양에너지학회 논문집
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• 제28권1호
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• pp.9-17
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• 2008

An experimental investigation has been carried out to study the effects of different working fluids on the behavior and thermal performance of a hi-directional thermodiode. The thermodiode was made up of two rectangular loops mounted between a collector plate and a radiator plate. Rotatable joints between the horizontal and inclined segments of the loops enable easy alteration of the direction of heat transfer. The loops and the tank were filled with a working fluid for effective heat transfer when the thermodiode was forwarded biased. Six different working fluids were tested with thermal conductivity values ranging from 0.1 to $0.56W/m-^{\circ}C$, thermal expansion coefficient values ranging from $1.8\;{\times}10^{-4}$ to $1.3\;{\times}\;10^{-3}\;K^{-1}$, and kinematic viscosity values ranging from $0.65\;{\times}\;10^{-6}$ to $100\;{\times}\;10^{-6}\;m^2/s$. Especially, mixtures of $Al_2O_3$ (30nm Particle) in deionized water have been tested for the volumetric ratios of 0.01, 0.02, 0.03, 0.1, 0.2%. Each experiment was carried out after the loop was filled with a working fluid for effective heat transfer and the thermodiode was forwarded biased. The solar thermodiode was heated by a radiant heater consisting of 20 halogen lamps that generated a heat flux of about $1000\;W/m^2$ on the collector surface. Results are given in terms of temperature development in different parts of the loop as heat is delivered from its hot end to the surrounding atmosphere by the radiator made of copper plates.