• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.479-484
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• 1992

The resolved motion rate control (RMRC) is converting to Joint space trajectory from given Cartesian space trajectory. The RMRC requires the inverse of Jacobian matrix. Since the Jacobian matrix of the redundant robot is generally not square, the pseudo-inverse must be introduced. However the pseudo-inverse is not easy to be implemented on a digital computer in real time as well as mathematically complex. In this paper, a simple fuzzy resolved motion rate control (FRMRC) that can replace the RMRC using pseudo-inverse of Jacobian is proposed. The proposed FRMRC with appropriate fuzzy rules, membership functions and reasoning method can solve the mapping problem between the spaces without complexity. The mapped Joint space trajectory is sufficiently accurate so that it can be directly used to control redundant manipulators. Simulation results verify the efficiency of the proposed idea.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.9
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• pp.133-144
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• 2000

The dynamic walking planning and the inverse dynamics of the biped robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian corrdinates then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot the holonomic constraints are added or deleted on the equations of motion. the number of these constraints can be changed by types of walking patterns with three modes. In order for the dynamic walking to be stabilizable optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.548-555
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• 2000

The dynamic walking and the inverse dynamics of the biped walking robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian coordinates, then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot, the holonomic constraints are added or deleted on the equations of motion. The number of these constraints can be changed by types of walking pattern with three modes. In order for the dynamic walking to be stabilizable, optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

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

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.20-25
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• 1998

This paper proposes a new compliant contact control strategy for the robot manipulators accidentally interacting with an unknown environment. The main features of the proposed method are summarized as follows: First, each entry in the diagonal stiffness matrix corresponding to the task coordinate in Cartesian space is adaptively adjusted during con-tact along the corresponding axis based on the contact force with its environment. Second, it can be used for both unconstrained and constrained motions without any switching mechanism which often causes undesirable instability and/or vibrational motion of the end effector. Third, the adjusted stiffness gains are automatically recovered to initially specified stiffness gains when the task is changed from constrained motion to unconstrained motion. The simulation results show the effectiveness of the proposed method by employing a two-link direct drive manipulator interacting with an unknown environment.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.5
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• pp.2327-2347
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• 2018

Human actions can be recognized from depth sequences. In the proposed algorithm, we initially construct depth, motion maps (DMM) by projecting each depth frame onto three orthogonal Cartesian planes and add the motion energy for each view. The body part of the action (BPoA) is calculated by using bounding box with an optimal window size based on maximum spatial and temporal changes for each DMM. Furthermore, feature vector is constructed by using BPoA for each human action view. In this paper, we employed an ensemble based learning approach called Rotation Forest to recognize different actions Experimental results show that proposed method has significantly outperforms the state-of-the-art methods on Microsoft Research (MSR) Action 3D and MSR DailyActivity3D dataset.

• Bulletin of the Society of Naval Architects of Korea
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• v.38 no.3
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• pp.88-92
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• 2001

H. Kim, B.K. Lee and C.K. Rheem have been experimentally studied to clarified the mechanism of thrust force generated by sculling motion for the propulsion of Korean small boats. The experimental investigations have been conducted under the bollard condition by installing a scull at the end of a trimming tank of towing tank. The sculling motion produced by the skilful fisherman and the resultant venerated forces have been measured in respect to the Cartesian coordinate fitted to the pivot point of the scull. ("An Experimental Study on the Propulsive Characteristics of Sculls". J. of the Soc. of Naval Arch. of Korea, Vol. 26, No. 3, 1989, pp.13-24) Through these experiments the trajectory of the blade tip and the angular displacement of the blade section have been measured as shown in Fig. 1 and 2 of this paper. And at the same time the resultant hydrodynamic force components are expressed in Fig. 3 and 4. These three dimensional data of sculling motion and generated real time force components are the unique experimental information which could clarify the thrust force generating mechanism of sculling motion. The experimental results have been reanalyzed by focusing the relation between instantaneous attack angle of blade section and the resultants real time force components. Through these investigation it is found out that the conventional imagination that the 7cull motion should be effective in generating lift force must be reconsidered because the attack angle of scull blade are too great to free from stall phenomena during the sculling operation.

• Proceedings of the KIEE Conference
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• 1991.11a
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• pp.405-408
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• 1991

In this paper, the algorithm of Resolved Motion Rate Control(RMRC) is applied to the robot manipulator to implement a desired straight trajectory in the cartesian space, PI controller is also used to control the velocity and position which are produced by RMRC algorithm. And Bounded Deviation Method is used to determine the intermediate knot points which satisfy a given tolerence limit, between the straight line segment.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.8
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• pp.1974-1984
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• 1994

This paper presents a relative coordinate formulation for constrained mechanical systems. Relative coordinates are defined along degrees of freedom of a joint. Graph theoretic analyses are performed to identify topological paths in mechanical systems. Cut constraints are generated to handle closed loop systems. Equations of motion are derived in the Cartesian space and transformed to the joint space. Relative generalized coordinates are corrected to satisfy the cut constraints by a parametrizatiom method.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1995.04a
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• pp.880-885
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• 1995

This paper deals with the efficient planning of robot motions in the Cartesian space while avoiding the collision with obstacles. The motion planning problem is to find a path from the specified starting robot configuration that avoids collision with a known set of stationary obstacles. A simple and efficient algorithm was developed using "Backward" approach to solve this problem. The computational result was satisfactory enough to real problems. problems.