• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2057-2062
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• 2003

Chained form mobile robots have been studied from the viewpoint of the control and analysis of nonholonomic mechanical systems in literature. However, researches for the detailed closed form kinematic modeling are rarely progressed. Nothing that a chained form mobile robot can be considered as a parallel system including several chains and wheels, the transfer method using augmented generalized coordinates is applied to obtain inverse and forward kinematic models of chained form mobile robots. Various numerical simulations are conducted to verify the effectiveness of the suggested kinematic model.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.12
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• pp.19-29
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• 1997

This paper presents stable kinematic modeling and path planning and path tracking algorithms for the poisition control of 4-wheeled 2-d.o.f(degree of freedom) mobile robot. We drived the actuated inverse and sensed forward solution for the calculation of actuator velocity and robot velocities. the deal-reckoning algorithm is introduced to calculate the position of WMR in real time. The gaussian functions are applied to control and to design the smooth orientation angle of WMR and the path planning algorithm for obstacle avoidance is prosed. We composed feedback control system to compensate for error because of uncertainty kinematic modeling and measurement noise. The simulation resutls show that the proposed kinematkc modeling and path planning and feedback control algorithms are useful.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.1067-1070
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• 1995

In this paper, we have treated the modeling and development of three degree of freedom parallel manipulator for micromotion based on the Stewart platform type parallel structure. the kinematic modeling was derived from the relation between base coordinate and platform anr the dynamic modeling was from the method of Kinematic Influence Coefficients(KIC) and transferring of the generalized coordinates. Using this method, we presented the method to choose the actuator and joint by investigating the actuating forces needed when the manipulator moves along the given trajectory. In the end, the prototype manipulator was developmented and evaluated.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.05a
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• pp.561-565
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• 2000

This paper deals with dynamic walking and inverse dynamic analysis of the IWR biped walking robot. The system has nine bodies of the multibody dynamics. and all of the .joints of them are made up of the revolute joints at first. The problem of redundant constraint in double support phase is solved by changing the type of the joints considering kinematic relation. To make sure of its dynamic walking, the movement of balancing weight is determined by which satisfies not only the condition of ZMP by applying the principle of D'Alembert but also the contact condition of the ground. The modeling of IWR and dynamic walking are realized using DADS.

• Journal of Biomedical Engineering Research
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• v.20 no.4
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• pp.485-493
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• 1999

Human can generate various posture and motion with nearly 350 muscle pairs. From the viewpoint of mechanisms, the human skeleton mechanism represents great kinematic and dynamical complexity. Physical and behavioral fidelity of human motion requires dynamically accurate modeling and controling. This paper describes a mathematical modeling, and dynamic simulation of human body. The human dynamic model is simplified as a rigid body consisting of 18 actuated degrees of freedom for the real time computation. Complex kinematic chain of human body is partitioned as 6 serial kinematic chains that is, left arm, right arm, support leg, free leg, body, and head. Modeling is developed based on Newton-Euler formulation. The validity of proposed dynamic model, which represents mathematically high order differential equation, is verified through the dynamic simulation.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.8
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• pp.482-491
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• 2003

In this paper are presented kinematic and dynamic modeling and path-tracking of four-wheeled mobile robots with 2 d.o.f haying the limited drive-torques. Controllability of wheeled-mobile robots is revealed by the kinematic model. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to drive the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.5
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• pp.146-153
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• 2004

Torsion beam rear suspension has been widely adopted to the rear suspension of vehicle by reason of simple structure and cost competitiveness. Since the kinematic characteristics of torsion beam rear suspension are determined by elastic behavior of torsion beam, quasi-static analysis based on finite element modeling of torsion beam has been conducted to obtain the kinematic parameters of torsion beam rear suspension. In this paper, simple kinematic equations with rear geometric parameters are derived to predict the kinematic behavior of torsion beam rear suspension. The suspension design parameters such as roll center height, roll stiffness, roll steer and roll camber can be easily obtained with the kinematic equations. The suggested kinematic equations are validated from comparison with the test results and solution offered by ADAMS. The suspension design parameters varied with the position of torsion beam are discussed.

• Journal of the Korea Computer Industry Society
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• v.5 no.9
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• pp.993-1004
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• 2004

We propose the method for kinematic and dynamic modeling and Path-tracking of four-wheeled mobile robots with 2 d.o.f having the limited drive-torques. Controllability of wheeled-mobile robots is revealed by using the kinematic model. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to induce the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that the method proposed by this paper is efficient.

• Transactions of the Korean Society of Mechanical Engineers
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• v.13 no.1
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• pp.48-58
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• 1989

An assembly modeling system, with which a designer can interactively create an assembly of components ready for the dynamic analysis, has been developed. In this system, an assembly model is created from the mating conditions between the components in the assembly, and then most information required for the dynamic or kinematic analysis packages are derived. For this development, the following problems have been solved; the creation of assembly data structure, the derivation of the joint information, the inference of each component's position, and the creation of the joint coordinate systems. Through this work, the designer can easily model an assembly by assigning mating conditions, and check the dynamic or kinematic performance with the automatic creation of inputs for the assembly analysis packages.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.827-831
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• 2008

In this paper, kinematic analysis for a planar 3-DOF redundant stage which has four actuators is presented by using SimMechanics software package. SimMechanics is a block sets of the Matlab/Simulink package. The SimMechanics enables a simplified model for a complex kinematic mechanism, since kinematic relationship between joints and linkages for the kinematic chains are expressed as line vectors and block diagrams. Here, positional error and limit values of movement ranges of the stage are evaluated by using the SimMechanics. The validity of the kinematic characteristics model was compared with theoretical kinematic analyses for the 3-DOF stage.