• 제목/요약/키워드: Kinematic Systems

검색결과 522건 처리시간 0.026초

닫힌 형태의 역기구학 해를 갖는 매니퓰레이터의 정밀도 개선 알고리즘 (An Accuracy Improvement Algorithm for the Manipulators with Closed-Form Inverse Kinematic Solutions)

  • 조혜경;조성호
    • 제어로봇시스템학회논문지
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    • 제6권12호
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    • pp.1093-1098
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    • 2000
  • This paper presents an efficient algorithm for including the kinematic calibration data into the motion controller to improve the positioning accuracy of the manipulators. Rather than spending several iterations for finding the inverse solution of the calibrated kinematics, our approach requires only the nominal inverse solution and the calibrated forward kinematics for providing a better position command promptly. Thus, real-time application is guaranteed whenever the manipulators nominal inverse solution can be expressed in a closed form. Experimental results show that the line tracking performances can be remarkably improved by employing our algorithm.

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스튜워트 플랫폼 메카니즘의 기구학적/동역학적 최적설계 (Kinematic/dynamic optimal design of a Stewart Platform mechanism)

  • 이병주;김희국;허금강
    • 제어로봇시스템학회논문지
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    • 제2권1호
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    • pp.45-52
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    • 1996
  • This work deals with the kinematic and dynamic optimal design of a six degree-of-freedom Stewart Platform mechanism, which is actuated by six prismatic cylinfers. Composite design index is employed to deal with multi-criteria based design in a systematic manner, and a sequential design method is suggested, in which the results from the kinematic optimization are employed in the following dynamic optimization.

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불출기의 여유자유도와 역기구학 해 (The inverse kinematics and redundancy of reclaimers)

  • 신기태;최진태;이관희;안현식
    • 제어로봇시스템학회논문지
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    • 제3권5호
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    • pp.469-475
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    • 1997
  • A method for solving the inverse kinematic problem of reclaimer is presented in this paper. The reclaimers in the raw yard are being used to dig raws and transfer them to the blast furnaces. The kinematic configuration of the reclaimer is different from that of commercially available robots, because it has a rotating disk with several buckets at the end of the boom to dig raws. The reclaimer has a redundancy due to the rotating disk : the degrees of freedom are greater than the number of forward kinematic equations. A plane equation in the 3-dimensional space is determined by using several points adjacent to the reclaiming point of the raw ores pile. A constraint is obtained from the relation ship of the plane equation and trajectories of the bucket of the reclaimer. Finally, a solution of the inverse kinematics of the reclaimer is determined by a numerical method.

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GK-DEVS : 3차원 인간제작 시스템의 시뮬레이션을 위한 형상 기구학 DEVS (GK-DEVS : Geometric and Kinematic DEVS for Simulation of 3 Dimensional Man-Made Systems)

  • 황문호;천상욱;최병규
    • 한국시뮬레이션학회논문지
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    • 제9권1호
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    • pp.39-54
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    • 2000
  • Presented in this paper is a modeling and simulation methodology for 3 dimensional man-made systems. Based on DEVS(discrete event system specification) formalism[13], we propose GK-DEVS (geometrical and kinematic DEVS) formalism to describe the geometrical and kinematic structure and continuous state dynamics. To represent geometry and kinematics, we add a hierarchical structure to the conventional atomic model. In addition, we employ the "empty event" and its external event function for continuous state changing. In terms of abstract simulation algorithm[13], the simulation method of GK-DEVS, named GK-Simulator, is proposed for combined discrete-continuous simulation. Using GK-DEVS, the simulation of an FMS(flexible manufacturing system) consisting of a luring machine, a 3-axis machine and a RGV-mounted robot has been peformed.en peformed.

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새로운6자유도 병렬형 햅틱 기구의 최적설계 및 해석 (A New 6-DOF Parallel Haptic Device: Optimum Design and Analysis)

  • 이재훈;김형욱;이병주;서일홍
    • 제어로봇시스템학회논문지
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    • 제9권1호
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    • pp.63-72
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    • 2003
  • A new 6-DOF parallel haptic device is proposed. Many existing haptic devices require large power due to having floating actuator and also have small workspaces. The proposed new mechanism can generate 6-DOF reflecting force. This device is relatively light by employing non-floating actuators and has large workspace. Kinematic analysis and kinematic optimal design is performed for this mechanism. Dexterous workspace, global isotropic index, and global maximum force transmission ratio are considered as kinematic design indices. To deal with such multi-criteria optimization problem. composite design index is employed. For the given operational specifications, actuator sizing for this mechanism is also carried out.

이동 매니퓰레이터 시스템의 운동성 해석과 유연한 동작 제어 (Mobility Analysis and Flexible Motion Control of Mobile Manipulator System)

  • 임미섭;오상록;김광배;이병주;임준홍
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2000년도 하계학술대회 논문집 D
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    • pp.2735-2737
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    • 2000
  • In this paper, we deal with modeling and analysis for mobile manipulator systems. In order to avoid the difficulties occurring due to slippage or unevenness of the terrain, we propose the utilization of minimum actuators. In this case, the resulting systems typically possess kinematic redundancies which can be beneficially employed for correcting the position error. A simple PD control method along with kinematic redundancy is employed to recover position errors for trajectory control in task space. Several primary and secondary criteria utilizing kinematic redundancy of the mobile manipulator system are tested through graphic animation.

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퍼지 시스템을 이용한 이동로봇의 궤적제어 (Tracking Control for Mobile Robot Based on Fuzzy Systems)

  • 박재훼;이만형
    • 제어로봇시스템학회논문지
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    • 제9권6호
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    • pp.466-472
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    • 2003
  • This paper describes a tracking control for the mobile robot based on fuzzy systems. Since the mobile robot has the nonholonomic constraints, these constraints should be considered to design a tracking controller for the mobile robot. One of the well-known tracking controllers for the mobile robot is the back-stepping controller. The conventional back-stepping controller includes the dynamics and kinematics of the mobile robot. The conventional back-stepping controller is affected by the derived velocity reference by a kinematic controller. To improve the performance of the conventional back-stepping controller, this paper uses the fuzzy systems known as the nonlinear controller. The new velocity reference for the back-stepping controller is derived through the fuzzy inference. Fuzzy rules are selected for gains of the kinematic controller. The produced velocity reference has properly considered the varying reference trajectories. Simulation results show that the proposed controller is more robust than the conventional back-stepping controller.

지면에 고정되어 있지 않은 여유자유도 매니플래이터의 운동계획 알고리즘 (Motion Planning Algorithms for Kinematically Redundant Manipulator Not Fixed to the Ground)

  • 유동수;소병록;김희국
    • 제어로봇시스템학회논문지
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    • 제10권10호
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    • pp.869-877
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    • 2004
  • This paper deals with motion planning algorithm for kinematically redundant manipulators that are not fixed to the ground. Differently from usual redundant manipulators fixed to the ground, the stability issue should be taken into account to prevent the robot from falling down. The typical ZMP equation, which is employed in human walking, will be employed to evaluate the stability. This work proposes a feed forward ZMP planning algorithm. The algorithm embeds the 'ZMP equations' indirectly into the kinematics of the kinematic model of a manipulator via a ZMP stability index The kinematic self motion of the redundant manipulator drives the system in such a way to keep or plan the ZHP at the desired position of the footprint. A sequential redundancy resolution algorithm exploiting the remaining kinematic redundancy is also proposed to enhance the performances of joint limit index and manipulability. In addition, the case exerted by external forces is taken into account. Through simulation for a 5 DOF redundant robot model, feasibility of the proposed algorithms is verified. Lastly, usual applications of the proposed kinematic model are discussed.

Data-Driven Kinematic Control for Robotic Spatial Augmented Reality System with Loose Kinematic Specifications

  • Lee, Ahyun;Lee, Joo-Haeng;Kim, Jaehong
    • ETRI Journal
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    • 제38권2호
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    • pp.337-346
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    • 2016
  • We propose a data-driven kinematic control method for a robotic spatial augmented reality (RSAR) system. We assume a scenario where a robotic device and a projector-camera unit (PCU) are assembled in an ad hoc manner with loose kinematic specifications, which hinders the application of a conventional kinematic control method based on the exact link and joint specifications. In the proposed method, the kinematic relation between a PCU and joints is represented as a set of B-spline surfaces based on sample data rather than analytic or differential equations. The sampling process, which automatically records the values of joint angles and the corresponding external parameters of a PCU, is performed as an off-line process when an RSAR system is installed. In an on-line process, an external parameter of a PCU at a certain joint configuration, which is directly readable from motors, can be computed by evaluating the pre-built B-spline surfaces. We provide details of the proposed method and validate the model through a comparison with an analytic RSAR model with synthetic noises to simulate assembly errors.

열차 동역학에서 기구학적 비연성을 이용한 분할 해석 방법 (Partitioning method using kinematic uncoupling in train dynamics)

  • 박정훈;유흥희;황요하;김창호
    • 한국철도학회:학술대회논문집
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    • 한국철도학회 1998년도 추계학술대회 논문집
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    • pp.437-444
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    • 1998
  • In this paper, an efficient and accurate formulation for the transient analysis of constrained multibody systems is presented. The formulation employs Kane's method along with the null space method. Kane's method reduces the dimension of equations of motion by using partial velocity matrix: it can improve the efficiency of the formulation. Furthermore, the formulation partitions the coefficient matrix of linear and nonlinear equations into several sub-matrices using kinematic uncoupling. This can solve the equations more efficiently. The proposed formulation can be used to perform dynamic analysis of systems which can he partitioned into several sub-systems such as train systems. One numerical example is given to demonstrate the efficiency and accuracy of the formulation, and another numerical example is given to show its application to the train systems.

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