• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.288-291
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• 2001

Vehicle evaluation is performed on the proving ground, and durability test and dynamic test cost lots of money and time. Doing replace real vehicle experiment with similar experiment environment, it will take us much more useful advantages. Suspension simulator is required the robust and high-reliability and used widely. But it's natural of high-leveled control technique to manage to be fitted fluid system's property and complex that is for the lack of self-damping, nonlinearity, compressibility. In designing and evaluating simulator, it is important to understand the capability of kinematic and static performances. In this paper, an kinematic modeling and analysis has been presented using ADAMS to design that can reproduce longitudinal, lateral, and vertical force.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.12
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• pp.2899-2908
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• 2000

Methodology of volumetric error identification is presented to improve the accuracy of NC machine tools by using a reference artifact and a touch trigger probe. Homogeneous transformation matrix and kinematic chain are used for modeling the geometric and thermal errors of a three-axis vertical machining center. The reference artifact is designed and fabricated to identify the model parameters by machine tool metrology. Parameters in the error model are able to be identified and updated by direct measurement of the reference artifact on the machine tool under the actual conditions which include the thermal interactions of error sources. The proposed method can speed up and simplify volumetric error identification processes.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.452-455
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• 1995

Various physical limitations which intrinsically exist in the manipulator control system, for example kinematic limits and torque limit, cause some undesirable effects. Specifically, when one or more actuators are saturated the expected control performance can not be anticipated and in some cases it induces instability of the system. The effect of torque limit, especially for redundant manipulators, is studied in this article, and an analytic method to reconstruct the control input using the redundancy is proposed based on the kinematically decomposed modeling of redundant manipulators. It results to no degradation of the output motion closed-loop dynamics at the cost of the least degradation of the null motion closed-loop dynamics. Numerical simulations help to verify the advantages of the proposed scheme.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.419-424
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• 1986

A technique is developed which allows a designer to interactively create an assembly of components by specifying mating contions between the individual components. Once establishing the relationships between components via the mating conditions, each component's location and orientation in the final assembly is computed. The joint information for a kinematic and dynamic analysis can be derived from the mating conditions, therefore this work may be extended to incorporate this analysis. Thorugh this development it will no longer be necessary for a designer to specify cumbersome and error prone transformation matrices in order to create an assembly. The designer also will be able to perform a kinematic or a dynamic analysis directly from an assembly model if the joint information can be automatically derived.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.366-370
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• 2002

A kinematic ball bar measurement system can analyze the various errors of a machine tool easily and rapidly in a procedure and can measure many types of equipment such as chip mounter, PCB router, precision stage, etc. In this paper, the thermally induced errors are loused among various errors of a chip mounter because it affects the accuracy of the machine very much. Linear regression technique is adapted for the thermal error modeling. While the measurement and calibration of a chip mounter is difficult in general, this developed system is not only easy to apply for it but also improves the accuracy by 4 times or more.

• Structural Engineering and Mechanics
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• v.8 no.1
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• pp.53-72
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• 1999

The most important features of linear soil-foundation-structure interaction are reviewed, using stochastic modeling and considering kinematic interaction, inertial interaction, and structural distortion as three separate stages of the dynamic response to the free-field motion. The way in which each of the three dynamic stages modifies the spectral density of the motion is studied, with the emphasis being on interpretation of these results, rather than on the development of new analysis techniques. Structural distortion and inertial interaction analysis are shown to be precisely modeled as linear filtering operations. Kinematic interaction, though, is more complicated, even though it has a filter-like effect on the frequency content of the motion.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.806-811
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• 2005

The robot to search and rescue is used in narrow space where human cannot approach. In case of this robot, it can overcome obstacles such as wrecks or stairs etc. Also, this robot can do various locomotion for each object. In this reason, an articulated robot has advantages comparing with one module robot. However, the existing articulated robot has limits to overcome vertical passages. For expanding contacted territory of robot, a novel mechanism is demanded. In this paper, the novel mechanism of articulated mobile robot is designed for moving level ground and vertical passages. This paper proposes to change wheel alignment. The robot needs two important motions for passing vertical passages like pipe. One is a motion to press wheels at wall for not falling into gravity direction. The other is a motion that wheels contact a vertical direction of wall's tangential direction for reducing loss of force. The mechanism of the robot focused that two motions can be acted to use just one motor. Length of each link of robot is optimized that wheels contact a vertical direction of wall's tangential direction through kinematic modeling of each link. The force of pressing wall of robot is calculated through dynamic modeling. This robot composes four modules. This mechanism is confirmed by dynamic simulation using ADAMS program. The articulated mobile robot is elaborated based on the results of kinematic modeling and dynamic simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.3
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• pp.250-256
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• 2015

We present a novel method to model the body posture of a worm for vision-based automatic monitoring and analysis. The worm considered in this study is a Caenorhabditis elegans (C. elegans), which is popularly used for research in biological science and engineering. We model the posture by an open chain of a few curved or rigid line segments, in contrast to previously published approaches wherein a large number of small rigid elements are connected for the modeling. Each link segment is represented by only two parameters: an arc angle and an arc length for a curved segment, or an orientation angle and a link length for a straight line segment. Links in the proposed method can be readily related using the Denavit-Hartenberg convention due to similarities to the kinematics of an articulated manipulator. Our method was tested with real worm images, and accurate results were obtained.

• Transactions of The Korea Fluid Power Systems Society
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• v.4 no.2
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• pp.1-6
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• 2007

During the last few decades, excavation automation has been investigated to protect the operator from the hazardous working environment and to relieve the cost of the skilled operator. Therefore, a number of modelling and controller design methods of the hydraulic excavator are proposed in many literatures to realize the excavation automation. In this article, a geometric approach far the multi-body system modeling is adopted to develop the excavator mechanism model that contains 4 kinematic loops and 12 links. Considering a simple soil mechanism model with a number of uncertain soil parameters, an adaptive trajectory tracking control strategy based on the developed excavator model is proposed. The improved performance of the designed controller over the simple PID controller is validated via the simulation study.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.11
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• pp.881-888
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• 2020

In this paper, research on estimation of states of a target of interest using Line Of Sight(LOS) angle measurement is performed. Target's position, velocity, and acceleration are chosen to be the states of interests. The LOS measurement is known to be highly non-linear, making target dynamic modeling hard to be implemented into a filter. To solve this issue, the Pseudomeasurement equation was applied to the LOS measurement equation. With the help of this equation, 3D variable turn target dynamic model is applied to the filter model. For better performance, Kinematic Constraint is also implemented into the filter model. As for the filter, Bias Compensation Pseudomeasurement Filter (BCPMF) is used which is known for its robustness to initial conditions. Moreover, Two-Stage Kalman Filter (TSKF) form was also implemented to benefit from the parallel computation. As a result, TBCPMF 3DVT-KC is proposed and simulated to assess performance.