• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.5
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• pp.1640-1648
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• 1991

본 연구에서는 이러한 편사 함수 최소화의 방법을 적용함에 있어 보다 안정된 수렴성과 계산 시간을 단축시키기 위하여 근접 위치 방법(near position method)을 개 발하여 적용하였다. 근접 위치 방법이란 이론적 해석법으로 풀기가 불가능한 기구학 을 갖는 6관절 로봇을 반복적 해석법을 사용한다는 것을 전제로 하여, 초기 위치를 목 표 위치에 가능한 근접하게 잡아서 반복 계산을 수행하는 방법으로써 로봇의 기구학적 자세에 따른 수렴의 불안정성을 방지하고, 계산 시간을 단축하는데 그 목적이 있다.

• Proceedings of the KIEE Conference
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• 1991.07a
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• pp.767-770
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• 1991

For the control of redundant manipulators, conventional dynamic control methods of local torque optimization showed the instability which resulted in physically unrealizable torque requirements. In this paper, a new dynamic control method which is based on the concept of aspects is proposed. The proposed method starts with the basic understanding of the minors in the Jacobian matrix. It was shown by computer simulations that the proposed method demonstrates a drastic reduction of torque loadings at the joints in the tracking motion of a long trajectory, and thus guarantees the stability of joint torque.

• Transactions of the Korean Society of Mechanical Engineers
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• v.12 no.3
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• pp.419-425
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• 1988

It would be very useful if the dynamic response of a vehicle over rough ground could be predicted at the early design stage. This became more promising with the recent progress in computer hardware and software technologies. In this study, a model of a passenger car has been developed for the analysis of its dynamic response. This model can be easily used for the other passenger cars with little modification. This passenger car was modeled to be composed of lumped masses, rigid bodies, and the suspension systems with nonlinear properties. Even though a commercial dynamic simulation program, ADAMS, was used in this study, the developed model is valid for any other simulation program. Finally, the validity of the developed model and the analysis result was verified by an experiment.