• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.45 no.1
• /
• pp.10-20
• /
• 2017

This study presents the feasibility of CFD(computational fluid dynamic) analysis using the flow angularity wind tunnel test technique. The CFD analyzed data by the flow angularity technique has been constructed as the database to get store trajectories by 6-DOF simulation. The database has been checked out store aerodynamic coefficients by the analyses at each position under wing. After that process, the simulated trajectories by database have been compared with the store trajectories by CTS(Captive Trajectory Simulation) of CFD. The trajectories provided by the database of flow angularity have a good agreement with the store trajectories by CFD.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.11 no.6
• /
• pp.31-37
• /
• 2002

This paper presents a new motion control strategy for singularity avoidance in 6 DOF articulated robot manipulators, based on a speed limiting algorithm for joint positions and velocities. For a given task, the robot is controlled so that the joints move with acceptable velocities and positions within the reachable range of each joint by considering the velocity limit. This paper aims at the development of a new efficient method to control robot motion near and at singularities. The proposed method has focused on generating the optimal joint trajectory for a Cartesian end-effector path within the speed limit of each joint by using the speed limit avoidance as well as the acceleration/deceleration scheme. The proposed method was verified using MATLAB-based simulations.

• Journal of Institute of Control, Robotics and Systems
• /
• v.12 no.6
• /
• pp.561-567
• /
• 2006

This paper deals with a fuzzy controller using IA(Immune Algorithm) for Trajectory Tracking of 2-DOF WMR(Wheeled Mobile Robot). The global inputs to the WMR are reference position and reference velocity, which are time variables. The global output of WMR is a current position. The tracking controller makes position error to be converged 0. In order to reduce position error, a compensation velocities on the track of trajectory is necessary. Therefore, a FIAC(Fuzzy-IA controller) is proposed to give velocity compensation in this system. Input variables of fuzzy part are position errors in every sampling time. The output values of fuzzy part are compensation velocities. IA are implemented to adjust the scaling factor of fuzzy part. The computer simulation is performed to get the result of trajectory tracking and to prove efficiency of proposed controller.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2002.05a
• /
• pp.454-457
• /
• 2002

This paper presents a new motion control for singularity avoidance in 6 DOF articulated robot manipulators, based on a speed limiting algorithm for joint positions and velocities. For a given task, the robot is controlled so that the joints move with acceptable velocities and positions within the reachable range of each joint by considering the velocity limit. The proposed method was verified using MATLAB-based simulations.

• Journal of the Korean Society of Propulsion Engineers
• /
• v.16 no.1
• /
• pp.16-24
• /
• 2012

In this study, two-stage hypersonic scramjet vehicle was designed for the flight condition of Mach number 6. In order to launch at sea level, two stage concept was applied. The first stage of the vehicle is solid rocket-powered and is mounted under the second stage. The second stage is powered by scramjet propulsion system and gas wings. The suggested mission scenario is to deliver 0.2 ton payload to the range of 2,000 km. For the first step of conceptual design, trajectory of air vehicle was calculated by 3-DOF trajectory code. Based on the result of trajectory code, scramjet engine design and mass estimation were performed by non-equilibrium nozzle flow code and NASA's HASA model, respectively. In order to find best solution, all steps of designing process was iterated until they was reached.

• Proceedings of the Korean Society of Propulsion Engineers Conference
• /
• 2011.04a
• /
• pp.309-317
• /
• 2011

In this study, two-stage hypersonic scramjet vehicle was designed for the flight condition of Mach number 6. In order to launch at sea level and Mach number 0, two stage concept was applied. The first stage of the vehicle is rocket-powered and is mounted under the second stage. The second stage is scramjet-powered propulsion system and has wing. The suggested mission scenario is to deliver 0.2 ton payload to the range less of 2000km. For the first step of conceptual design, trajectory of air vehicle was calculated by 3-DOF trajectory code. Based on the result of trajectory code, scramjet engine design and mass estimation were performed by non-equilibrium nozzle flow code and NASA's HASA model, respectively. In order to find best solution, all step of designing process was iterated until they were converged.

• The Journal of Korea Robotics Society
• /
• v.17 no.3
• /
• pp.303-307
• /
• 2022

This paper proposes a method that can generate a smooth trajectory from the discontinuous trajectory in kinematic, dynamic, and task-space trajectory constraints. The problem is defined as the minimization of kinetic energy, and then the simulation is performed by using the MATLAB. Kinematic and inverse kinematic equations are derived for the simulation of the 6-DOF robotic arm. The simulation results showed that the trajectory of each joint is generated while satisfying the constraints without any discontinuity. There are small errors in the Cartesian trajectory, but unnecessary deceleration and acceleration can be eliminated. In addition, it is possible to quickly switch between the robotic tasks by applying the proposed method.

• Journal of Institute of Control, Robotics and Systems
• /
• v.9 no.6
• /
• pp.478-488
• /
• 2003

A guidance scheme that is suitable for controlling the aircraft flight path is proposed. The concept of miss distance which is commonly used in the missile guidance laws, and Lyapunov stability theorem are effectively combined to obtain the aircraft's trajectory-tracking guidance law. Guidance commands are given in terms of speed and flight path angles, but they perfectly reflect any position and velocity errors between real aircraft trajectory and reference one. The proposed guidance law is easily integrated into the existing flight control system. The new guidance law was extensively tested with various mission scenarios and the fully nonlinear 6-DOF aircraft model. Furthermore, the new guidance law was compared with previous guidance schemes in nonlinear simulation. Results from the numerical simulation show that the proposed guidance law yields better performance than previous ones.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.33 no.10
• /
• pp.1014-1022
• /
• 2009

A biped robot in locomotion can be regarded to be kinetically redundant in that the link-chain from its foot on the ground to its swing foot has more degrees of freedom that needed to realize stable bipedal locomotion. This paper proposes a new method to generate a trajectory for bipedal locomotion based on this redundancy, which directly generates a locomotion trajectory at the joint level unlike some other methods such as LIPM (linear inverted-pendulum mode) and GCIPM (gravity-compensated inverted-pendulum mode), each of which generates a trajectory of the center of gravity or the hip link under the assumption of the dominance of the hip-link inertia before generating the trajectory of the whole links at the joint level. For the stability of the trajectory generated in the proposed method, a stability condition based on the ZMP (zero-moment point) is used as a constraint as well as other kinetic constraints for bipedal motions. A 6-DOF biped robot is used to show how a stable locomotion trajectory can be generated in the sagittal plane by the proposed method and to demonstrate the feasibility of the proposed method.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.35 no.5
• /
• pp.381-389
• /
• 2007

6-DOF simulation program is developed in order to increase the efficiency of the store separation analysis. This S/W is much faster than a method based on CFD(Computational Fluid Dynamics) technology, and allows the simulation of stores with fixed shape as well as with extensible wings, because it uses aerodynamic databases which are prepared beforehand. In this paper, aerodynamic databases of stores are obtained with MSAP(Multi-body Separation Analysis Program), and unsteady damping coefficients are modeled with Missile Datcom. These databases and the 6-DOF simulation program are used to predict the trajectory of an external store, while its wings are being deployed. The analysis results indicate that the safe separations of the store can be achieved not only with the wing fixed but with the wings being deployed.