• Journal of the Korean Society of Industry Convergence
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• v.24 no.6_2
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• pp.953-959
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• 2021

In this paper, the numerical inverse kinematics analysis is presented for a collaborative robot with an offset wrist. Robot manipulators with offset wrist are widely used in industrial applications, due to many advantages over those with wrist center and those with three parallel axes such as simple mechanical design, light weight, and so on. There may not exist a closed-form solution for a robot manipulator with offset wrist. A simple numerical method is applied to solve the inverse kinematics with offset wrist. Singularity is analyzed using Jacobian matrix and the numerical inverse kinematics algorithm is implemented on the real-time controller.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.1013-1016
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• 1995

This paper deals with dynamics and control of a PRP6-DOF parallel manipulator. Dynamic modeling includes the effect of inertia of all links in the mechanism to increase modeling accuracy. Kinematic analysis about forward and inverse kinematics is also explained. Using Lagrange-D' Alambert method we get equations of motions in a link space which fully represent 6DOF motions of the manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.78.2-78
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• 2002

$\textbullet$ Presents a new method to determine the actual solution of the forward kinematics based on the geometry of the 3-6 Platform with a 3-2-1 type. $\textbullet$ The method is simple and effective to deform me the actual solution.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.12
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• pp.56-65
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• 1997

This paper presents the robot program for propeller grinding. A robot manipulator is constructed by combining a parallel and a serial mechanism to increase high sitffness as well as workspace. The robot program involves inverse/direct kinematics, velocity mapping, Jacobian, and etc. They are cerived in efficient formulations and implemented in a real time control. A velocity control is used to measure the hight of a propeller blade with a touch probe and a position control is performed to grind the surface of the blade.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.1944-1946
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• 2008

This paper analyzed orientation simulation of Stewart platform which is a parallel manipulator of 6-DOF. When platform shape had been given, inverse kinematics as the problem about length of actuator could get an answer using a vector function simply, and forward kinematics as the problem solving shape of platform through the length of actuator could get answer using repetitive and manual explaining Newton-Raphson method because it is expressed a high nonlinear polynomial expression. In addition, for control the Stewart platform it could drive simply and it could confirm the state of orientation in real-time.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.3
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• pp.325-335
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• 2019

In this paper, a novel adaptive gripper with underactuation is presented, which can change its configuration to parallel or power grip mode according to object shapes. Differently from the commercial adaptive gripper by RobotiQ, the proposed gripper includes an actual parallelogram inside a five-bar mechanism, which allows the free selection of actuator locations and can reduce actuation torques effectively. The forward and inverse kinematics for two grip modes and statics analysis have been analyzed. From the comparative design, the proposed gripper has about 20% smaller size, 3.7% larger stroke, and 30.5% smaller average actuation torque than the commercial one.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.5
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• pp.482-489
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• 1997

This paper presents the analysis of the kinematics and dynamics of redundant parallel manipulators, and provides design guides for advanced parallel mainpulators with high performance. Three types of redundancies are considered which include the redundancies in serial chain, joint actuation, and parallelism. First, the kinematic and dynamic models of a redundant parallel manipulator are obtained in both joint and Cartesian spaces, and the kinematic and dynamic manipulabilities are defined for the performance evaluation. The effects of the three types of redundancies on the kinematic and dynamic performance of a parallel manipulator are then analyzed and compared, providing a set of guides for the design of advanced parallel manipulators. Finally, the simulation results using planer parallel manipulators are given.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.764-767
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• 1997

This paper presents the modulation of the dexterity of a parallel manipulator using joint freezing/releasing and joint unactuation/actuation. In this paper, individual limbs have redundant number of joints, and each joint can be frozen/released and unactuated/actuated, as needed. First, given a task, the restrictions on joint freezing and joint unactuation of a parallel manipulator are derived. Next, with/without joint freezing and/or joint unactuation, the kinematics of a parallel manipulator is formulated, based on which the manipulability ellipsoid is defined. The effects of joint freezing and joint unactuation on the manipulability are analyzed and compared. Finally, simulation results for a planar parallel manipulator are given. Joint mechanisms, such as joint freezing and joint unactuation, are rather simple to adopt into a parallel manipulator, but is quite effective to improve the task adaptability of the system.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.3
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• pp.288-296
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• 1999

A force-reflecting hand controller can provide the kinesthetic information obtained from a slave manipulator to the operator of a teleoperation system. The goal is to construct a compact hand controller that can provide large workspace and good force-reflecting capability. This paper presents the design and the analysis of a 6-degree-of-freedom force-reflecting hand controller using fivebar parallel mechanism. The forward kinematics of the fivebar parallel mechanism has been calculated in real-time using three pin-joint sensors in addition to six actuator position sensors. A force decomposition approach is used to compute the Jacobian. To evaluate the characteristics of the fivebar parallel mechanism, it has been compared with the other three parallel mechanisms in terms with workspace and manipulability measure. The hand controller using the fivebar parallel mechanism has been constructed and tested to verify the feasibility of the design concept.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1545-1548
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• 1997

A Force-refecting hand controller can provide the kinesthetic information obtained from a slave manipulator to the operator of a teleoperation system. This thesis presents the desgn and the analysis of a 6-degree-of-freedom force-reflecting hand controller using fivebar parallel mechanism. The goal of this thesis is to construct a superior hand controller that can provide large workspace and good force-reflecting ability. The forward kinematics of the fivebar paprallel mechanism has been calculated in real-time using three pin-joint sensors in addition to six actuator position sensors. A force decomposition approach is used to comput the Jacobin. To analyze the characteristics of the fivebar parallel mechanism, it has been compared with the other three parallel mechanisms in terms with workspace and manipulability measure. The force-reflecting hand controller using the fivebar parallel mechanism has been constructed and tested to verify the feasibility of the design concept.