• Journal of Mechanical Science and Technology
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• v.17 no.4
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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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• 2003.10a
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• pp.1841-1846
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• 2003

The mobile platform-manipulator discussed in this paper is a three link manipulator mounted on a mobile platform. This mobile manipulator is used for welding operation and it is able to operate in a narrow space. The task of the torch, which is mounted at the end effector of the manipulator, is to track along the seam line and the task of the mobile platform is to move the origin point of the manipulator in order to go away from the singularity of the manipulator’s configuration. In this paper, the path planning for the motion of two subsystems (i.e., the manipulator and the mobile platform) was presented by the decentralized control method. Two controllers for the mobile platform and the manipulator were designed, and the relationship between the independent controllers is its state information. The simulation results are also presented to demonstrate the effectiveness of the control method.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.243-246
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• 1996

Modular robot manipulator is a robotic system assembled from discrete joints and links into one of many possible manipulator configurations. This paper describes the design method of newly developed modular robot manipulator and the methodology of a task based reconfiguration of it. New locking mechanism is proposed and it provides quick coupling and decoupling. A parallel connection method is devised and it makes modular robot manipulator working well and the number of components on each module reduced. To automatically determine a sufficient or optimal arrangement of the modules for a given task, we also devise an algorithm that automatically generates forward and inverse manipulator kinematics, and we propose an algorithm which maps task specifications to the optimized manipulator configurations. Efficient genetic algorithms are generated and used to search for a optimal manipulator from task specifications. A few of design examples are shown.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.30B no.6
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• pp.9-19
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• 1993

This paper presents a new concept of a reconfigurable manipulator system which adjusts its mechanical structure to suit the kinematic characteristics of a given task. A highly redundant manipulator designed as a general purpose manipulator needs to be reconfigured for a specific task. A general task can be decomposed of motion and force components with different control requirements: either gross motion control or fine motion control. Each of these task components are distributed to each part of the manipulator based on the control requirements and the structure of the manipulator. Through the reconfiguration, a redundant manipulator is decomposed into two local arms, and the kinematic characteristics of each local arm is adjusted to suit the assigned task. The reconfigured redundant manipulator has two local arms well-configured for the local tasks and cooperating in serial for a given task. This globally enhances the performance of a redundant manipulator to execute a specific task. The simulation results are shown.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.5
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• pp.456-462
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• 2010

This paper proposes a new planar robotic manipulator using stackable 4-BAR mechanisms for various applications. The proposed manipulator has an advantage that we can separate the driving actuators from a robotic manipulator. By separating actuators from the manipulator, we are able to separate the electrical component such as electrical wiring from the mechanical linkage/joint components in the robotic manipulator. Also, we suggest the kinematic analysis of the proposed manipulator which is composed of input mechanisms, multiple 4-BAR mechanisms and output mechanisms. Finally, we suggest numerical simulations to show the effectiveness of the proposed manipulator.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.12
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• pp.87-98
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• 1999

This study is concentrated on the development of real-time estimation model and vision control method as well as the experimental test. The proposed method permits a kind of adaptability not otherwise available in that the relationship between the camera-space location of manipulable visual cues and the vector of manipulator joint coordinates is estimate in real time. This is done based on a estimation model ta\hat generalizes known manipulator kinematics to accommodate unknown relative camera position and orientation as well as uncertainty of manipulator. This vision control method is roboust and reliable, which overcomes the difficulties of the conventional research such as precise calibration of the vision sensor, exact kinematic modeling of the manipulator, and correct knowledge of position and orientation of CCD camera with respect to the manipulator base. Finally, evidence of the ability of real-time vision control method for manipulator's position control is provided by performing the thin-rod placement in space with 2 cues test model which is completed without a prior knowledge of camera or manipulator positions. This feature opens the door to a range of applications of manipulation, including a mobile manipulator with stationary cameras tracking and providing information for control of the manipulator event.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1577-1580
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• 1997

A hybrid control method based on using the relative motion between a manipulator and a workpiece is described for a two-dimensional manipulator, in which it is assumed that there are no collisions between the robot manipulator and the workpiece, and that we use a computed force law which is similar to the computed torque law in the trajectory tracking problem of a robot manipulator. The effectiveness of the proposed hybrid control emthod is illustratec by some simulations.

• The Journal of Korea Robotics Society
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• v.6 no.4
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• pp.344-352
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• 2011

A mobile manipulator is a system with a robotic manipulator mounted on top of a mobile base. It has both indoor and outdoor applications for transporting or transferring materials. When a user gives commands, they are usually at high levels such as "move the object to the table," or "tidy the room." By intelligently decomposing these complex commands into several subtasks, the mobile manipulator can perform the tasks with a greater efficiency. One of the crucial subtasks for these commands is the pick-and-place task. For the mobile manipulator, selection of a good base position and orientation is essential to accomplishing this task. This paper presents an algorithm that determines one of the position and orientation of a mobile manipulator in order to complete the pick-and-place task without human intervention. Its effectiveness are shown for a mobile manipulator with 9 degrees-of-freedom in simulation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.743-746
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• 1997

The Master-Slave manipulator is the generally used remote handling equipment in the hot cell, in which the high level radioactive materials such as spent fuels are handled. To analyze the motion and to implement the training system by virtual reality technology, the simulator for M-S manipulator using the computer graphics is developed. The parts are modelled in 3-D graphics, assembled, and kinematics are assigned. The inverse kinematics of the manipulator is defined, and the slave of manipulator is coupled with master by the manipulator's specification. Also, the virtual workcell is implemented in the graphical environment which is the same as the real environment. This graphic simulator of manipulator can be effectively used in designing of the maintenance processes for the hot cell equipment and enhance the reliability of the spent fuel management.

• Journal of Power System Engineering
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• v.19 no.3
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• pp.75-80
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• 2015

Typically, robot system configured by articulated robot manipulator with 1 DOF transfer unit is being applied in automotive manufacturing automation process. Especially, 1 DOF transfer unit is necessary to extend workspace of robot manipulator. In this configuration, because transfer unit works only one direction, robot manipulator only works in one side in case of car body painting or sealing automation process. it is necessary three robot manipulator system at least. In this paper, in order to robot manipulator works effectively in car body sealing automation application, we are suggested omni-directional manipulator system and conducted studying on redundancy resolution method to solve manipulability-optimal problem.