• Title, Summary, Keyword: kinematic model

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Kinematic Modeling of a Car-like Planar Mobile Robot with Four Fixed Wheels (네 개의 고정 바퀴가 장착된 자동차 구를 평면형 모바일 로봇의 기구학 모델링)

  • Lee, Seung-Eun;Kim, Hui-Guk;Lee, Byeong-Ju
    • Journal of the Korean Society for Precision Engineering
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    • v.19 no.7
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    • pp.28-35
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    • 2002
  • This paper deals with kinematic modeling of a car-like planar mobile robot consisting of four conventional fixed wheels attached on two parallel axles. The kinematic model of such a mobile robot requires the description of skidding and sliding frictional motion. Previous kinematic model proposed by Muir and Newman$^{[1]}$ does not include such frictional motions. Thus, does it result in least square solution in estimating a sensed forward velocity solution. A modified kinematic model is proposed by incorporating transnational friction motion into the original algorithm. It is shown that transnational friction motions should be included into kinematic model of the mobile robot to represent its real physical motion.

Development of a Kinematic Wave Model to Route Overland Flow in Vegetated Area (II) -Runoff Plot Experiments and Model Application- (초지의 지표면 흐름을 추적하기 위한 Kinematic Wave Model의 개발(II) - 포장실험과 모형의 응용 -)

  • ;W.L.Magette
    • Magazine of the Korean Society of Agricultural Engineers
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    • v.35 no.3
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    • pp.74-80
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    • 1993
  • Runoff simulation tests to investigate the flow mechanics of nonsuomerged overland flow in a natural grass intervening land system were condueted and a modified kinematic wave overland runoff model developed by Choi et al. (1993) was verified. Nonhomogeneity and heterogeneity of the soil, slope, local topography, infiltration, grass density, and the density and activity of the soil microhes and wild animals were the major factors affecting the flow. Streamlines were disturbed by grass stems and small concentrated flows due to the disturbed streamlines and local topography were observed a lot. Relatively larger concentrated flows were observed where bundles of grass were dominant than where individual grasses were growing. Predicted hydrographs were agreed verv well with measured hydrographs. Since the modified model considers grass density in computing flow depth and hydraulic radius, it can be better than existing kinematic wave model if it were used to route nonpoint source pollutant attenuation processes in many grass intervening land systems.

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A Method of Reusing Kinematic Information for Virtual Facilities (동작 정보를 갖는 가상설비 데이터 재활용 방법론)

  • Ko, Min-Suk;Shin, Hye-Seon;Wang, Gi-Nam;Park, Sang-Chul
    • Korean Journal of Computational Design and Engineering
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    • v.16 no.4
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    • pp.305-313
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    • 2011
  • This paper proposes a method for reusing kinematic design data for virtual facilities, Making a virtual model of a facility involves two major activities: geometric design (virtual model visualization) and kinematic design that should be remodeled frequently whenever design changes occur, Conventionally, a virtual model of an automated facility focuses on the design level, which mainly deals with design verification, alternative comparison, and geometric model diagnosis, Although a design level model can be designed with the information of past models from PLM system, a simulation level model is not sufficient utilized to be reused for kinematic design purpose, We propose a method for reusing kinematic information of a past simulation model to cope with this problem, We use the concept or the 'center of mass', which is a point representing the mean position of the matter in a body or system. And we also use comparison method of a boundary box to identity which 3D objects have to be involved from the design model to a link structure that is contained in the simulation model. Because a proposed method only use not a historical approach but a geometrical approach, it is more effective to apply to the field.

Kinematic/Inverse Kinematic Analysis of Captive Trajectory Simulation System with Functional Redundancy (기능적 여유자유도를 가지는 CTS 시스템의 기구학/역기구학 해석)

  • Lee, Do Kwan;Lee, Sang Jeong
    • Journal of The Korean Society of Manufacturing Technology Engineers
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    • v.26 no.3
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    • pp.263-271
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    • 2017
  • A captive trajectory simulation (CTS) system is used to investigate the separation behavior of the store model by moving the model to an arbitrary pose and position based on aerodynamic data. A CTS system operated inside a wind tunnel is designed to match the structure of the wind tunnel facility. As a result, each CTS system has different kinematic structure, and inverse kinematic analysis of the system is necessary. In this study, kinematic/inverse kinematic analysis for the CTS system with functional redundancy is performed. Inverse kinematic analysis with combined numerical and analytical approach is especially proposed. The suggested approach utilizes the redundancy to improve the safety of the system, and has advantages in real time analysis.

Kinematic Template Generation Methodology for 3D JIG Models (3D JIG 모델의 Kinematic 템플릿 생성 방법론)

  • Ko, Min-Suk;Kwak, Jong-Geun;Wang, Gi-Nam;Park, Sang-Chul
    • Korean Journal of Computational Design and Engineering
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    • v.15 no.3
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    • pp.212-221
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    • 2010
  • Proposed in the paper is a methodology to generate kinematic template for 3D JIG models. Recently, according to increase of the rate of automatic facility in manufacturing system, the 3D manufacturing and verification research and development have been issued. So, unlike in the past, moving 3D facilities are very various like JIGs, turn table, AS/RS worked in the automated manufacturing industry. Because 3D mesh models are used in these kinds of 3D simulation, users have to define the kinematic information manually. This 3D mesh data doesn't have parametric information and design history of the 3D model unlike the design level data. So, it is lighter than 3D design level data and more efficient to render on the 3D virtual manufacturing environment. But, when user wants to find a common axis located between the links, the parameter information of the model has to reconstruct for defining kinematic construction. It takes a long time and very repetitive to define an axis and makes a joint using 3D mesh data and it is non-intuitive task for user. This paper proposed template model that provides kinematic information of the JIG. This model is kinds of a state diagram to describe a relation between links. So, this model can be used for a kinematic template to the JIG which has a same mechanism. The template model has to be registered in the template library to use in the future, after user made the model of the specific type of the 3D JIG model.

DEVELOPMENT OF VEHICLE DYNAMICS MODEL FOR REAL-TIME ELECTRONIC CONTROL UNIT EVALUATION SYSTEM USING KINEMATIC AND COMPLIANCE TEST DATA

  • KIM S. S.;JUNG H. K.;SHIM J. S.;KIM C. W.
    • International Journal of Automotive Technology
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    • v.6 no.6
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    • pp.599-604
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    • 2005
  • A functional suspension model is proposed as a kinematic describing function of the suspension, that represents the relative wheel displacement in polynomial form in terms of the vertical displacement of the wheel center and steering rack displacement. The relative velocity and acceleration of the wheel is represented in terms of first and second derivatives of the kinematic describing function. The system equations of motion for the full vehicle dynamic model are systematically derived by using velocity transformation method of multi-body dynamics. The comparison of test and simulation results demonstrates the validity of the proposed functional suspension modeling method. The model is computationally very efficient to achieve real-time simulation on TMS 320C6711 150 MHz DSP board of HILS (hardware-in-the-loop simulation) system for ECU (electronic control unit) evaluation of semi-active suspension.

Kinematic Modeling of Mobile Robots by Transfer Method of Generalized Coordinates (좌표계 전환기법을 활용한 모바일 로봇의 기구학 모델링)

  • 김도형;김희국;이병주
    • 제어로봇시스템학회:학술대회논문집
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    • pp.44-44
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    • 2000
  • Firstly, kinematic model of various type of wheels which includesskidding and skidding friction are presented. Tend, the transfer method of generalized coordinates which is useful to model the parallel mechanisms, can be applied to mobile robot by including such friction terms. Particularly, by appling the modeling method to mobile robot consisting of two conventional wheels and one caster wheel, forword/reverse kinematic modeling could be obtained without using pseudoinverse solutions.

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Forward Velocity Estimation Algorithm for Planar Mobile Robots

  • Lee, Seung-Eun;Kim, Wheekuk;Yi, Byung-Ju;You, Bum-Jae
    • 제어로봇시스템학회:학술대회논문집
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    • pp.51.5-51
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    • 2001
  • The sliding and/or skidding motions generally occur to a car - like planar mobile robot consisting of four conventional fixed wheels attached on two parallel axles. Thus, the kinematic model of such mobile robot should include the description of skidding and sliding frictional motions. However, most of previous kinematic models do not take these frictional motions into account the kinematic model, as the work done by Muir and Newman [1]. Thus, does it result in least square solution in estimating sensed forward velocity. In this paper, the sensed forward velocity estimation algorithm for mobile robots is proposed, which not only includes those skidding and sliding frictional motions into kinematic model but also utilizes only the minimal set of dependent internal kinematic variables of the mobile robot. Then, ...

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Constraint Operator for the Kinematic Calibration of a Parallel Mechanism

  • Lee, Min-Ki;Kim, Tae-Sung;Park, Kun-Woo;Kwon, Sung-Ha
    • Journal of Mechanical Science and Technology
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    • v.17 no.1
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    • pp.23-31
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    • 2003
  • This paper introduces a constraint operator for the kinematic calibration of a parallel mechanism. By adopting the concept of a constraint operator, the movement between two poses is constrained. When the constrained movements are satisfied, the active joint displacements are taken and inputted into the kinematic model to compute the theoretical movements. A cost function is derived by the errors between the theoretical movement and the actual movement. The parameters that minimize the cost function are estimated and substituted into the kinematic model for a kinematic calibration. A single constraint plane is employed as a mechanical fixture to constrain the movement, and three digital indicators are used as the sensing devices to determine whether the constrained movement is satisfied. This calibration system represents an effective, low cost and feasible technique for a parallel mechanism. A calibration algorithm is developed with a constraint operator and implemented on a parallel manipulator constructed for a machining center tool.