• Journal of KIISE:Computing Practices and Letters
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• v.8 no.4
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• pp.367-375
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• 2002

Inverse kinematics is a very useful method for control]ing the posture of an articulated body. In most inverse kinematics processes, the major matter of concern is not the posture of an articulated body itself but the position and direction of the end effector. In some applications such as 3D character animations, however, it is more important to generate an overall natural posture for the character rather than place the end effector in the exact position. Indeed, when an animator wants to modify the posture of a human-like 3D character with many physical constraints, he has to undergo considerable trial-and-error to generate a realistic posture for the character. In this paper, the Inductive Inverse Kinematics(IIK) algorithm using a Uniform Posture Map(UPM) is proposed to control the posture of a human-like 3D character. The proposed algorithm quantizes human behaviors without distortion to generate a UPM, and then generates a natural posture by searching the UPM. If necessary, the resulting posture could be compensated with a traditional Cyclic Coordinate Descent (CCD). The proposed method could be applied to produce 3D-character animations based on the key frame method, 3D games and virtual reality.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.7 no.5
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• pp.1002-1012
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• 2003

An algorithm is suggested for collision avoidance of two-arm robot manipulator using redundancy. End-effectors of each redundant arm should move along each prescribed straight path to complete the given task, while avoiding collision with each other. Self-motion, considered as motion of each axis not to change the position and orientation of end-effector, is utilized in order to solve this problem. At each sampling time, self-motion is executed with the view to making farther between the links of each arm. Simulation results for two-arm robot manipulator, which has 9-d.o.f. respectively, are illustrated to show the performance of the algorithm.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.10 no.2
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• pp.95-102
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• 2001

In general there are many degrees of freedom(DOFs) in industrial robots. So they have many poses of several special end-effectors positions and orientations. For that reason, industrial robots are used in a wide scope of industrial applica-tions such as welding, spray painting, deburring, and so on. In this research, an off-line continuous path planning method based on linear interpolation with parabolic blend is developed. The method safely maintains the constant orientation for base frame and end-effectors path within allowable error and minimizes the number of segments in path. This algorithm may apply to welding and painting in which the orientation is particularly significant. The simulation study of cartesian curve is carried out to show the performance of this algorithm.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.22-26
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• 1999

In general, three are many degrees of freedom (DOF) in industrial robots. That can generate several special end-effector's positions and orientations. For that reason, industrial robots are used in a wide scope of industrial applications such as welding, spray painting, deburring, and so on. In this research, new method is presented which safely maintain the desired constant end-effector's orientation and minimize the numbers of segments in path. These algorithms may apply to welding, painting, and assembling. The simulation study of straight line and circular motions in arc-welding operations is carried out to show the sure proof of these algorithms.