• 로봇학회논문지
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• 제10권4호
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• pp.230-244
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• 2015

Continuous-path motion control such as resolved motion rate control requires online solving of the inverse differential kinematics for a robot. However, the solution space of the inverse differential kinematics related to Jacobian J is not well-established. In this paper, the solution space of inverse differential kinematics is analyzed through categorization of mapping conditions between joint velocities and end-effector velocity of a robot. If end-effector velocity is within the column space of J, the solution or the minimum norm solution is obtained. If it is not within the column space of J, an approximate solution by least-squares is obtained. Moreover, this paper introduces an improved mapping diagram showing orthogonality and mapping clearly between subspaces, and concrete examples numerically showing the concept of several subspaces. Finally, a solver and graphics user interface (GUI) for inverse differential kinematics are developed using MATLAB, and the solution of inverse differential kinematics using the GUI is demonstrated for a vertically articulated robot.

• Smart Structures and Systems
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• 제16권3호
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• pp.435-457
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• 2015

The most widely known form of multifunctional aircraft structure is smart structures for structural health monitoring (SHM). The aim is to provide automated systems whose purposes are to identify and to characterize possible damage within structures by using a network of actuators and sensors. Unfortunately, environmental and operational variability render many of the proposed damage detection methods difficult to successfully be applied. In this paper, an original robust damage detection approach using output-only vibration data is proposed. It is based on independent component analysis and matrix perturbation analysis, where an analytical threshold is proposed to get rid of statistical assumptions usually performed in damage detection approach. The effectiveness of the proposed SHM method is demonstrated numerically using finite element simulations and experimentally through a conformal load-bearing antenna structure and composite plates instrumented with piezoelectric ceramic materials.