• 한국정밀공학회지
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• 제22권7호
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• pp.112-121
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• 2005

This paper is concerned with smooth trajectory generation of biped robot which has inverted pendulum type balancing weight. Genetic algorithm is used to generate the trajectory of the leg and balancing weight. Balancing trajectory can be determined by solving the second order differential equation under the condition that the reference ZMP (Zero moment point) is settled. Reference ZMP effect on gait pattern absolutely but the problem is how to determine the reference ZMP. Genetic algorithm can find optimal solution under the high order nonlinear situation. Optimal trajectory is generated when use genetic algorithm which has some genes and a fitness function. In this paper, minimization of balancing joints motion is used for the fitness function and set the weight factor of the two balancing joints at the fitness function. Inverted pendulum type balancing weight is very similar with human and this model can be used fur humanoid robot. Simulation results show ZMP trajectory and the walking experiment made on the real biped robot IWR-IV.

• Journal of Advanced Marine Engineering and Technology
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• 제25권4호
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• pp.797-808
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• 2001

Three-dimensional trajectory of fluid particle is simulated by a particle motion, which is able to examine the influences of changes in the several parameters. To calculate the trajectory of a particle, the Runge-Kutta method was utilized. The use of a projectile of particles for the trajectory of liquid jet has been shown to be useful to estimate the influence of different operating parameters such as best particle diameter, density of liquid body, initial take-off velocity, wind velocity, cross wind velocity, take-off angle, and base angle for a released flow from the nozzle. The results give the trajectories of various types of particle of body and at different elevations, base angles, wind velocities and densities of liquid body. The trajectories in a vacuum show that air resistances decreases both the distance and the maximum height of a projectile, and also explain that the termination time is also reduced in air. In addition, the maximum distance in the x direction was obtained with take-off angles from 30 degrees to 45 degrees in still air and the projectile of particles was highly effected by wind and cross wind. Clearly, a particle has to be so positioned as to take the optimum possible advantage of the wind if the maximum distances is requested. The wind astern increased the maximum distances of x direction compared with the wind ahead. Finally, it is possible to optimize the design of pump by using these results.

• Journal of Platform Technology
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• 제6권3호
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• pp.23-30
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• 2018

동작 패턴 생성이란 로봇이 어떤 동작을 안정하게 수행하기 위해 미리 안정적인 동작 궤적을 계산해 내는 것을 말하며 자세 제어는 미리 생성된 동작 패턴을 이용하여 동작을 수행하는 도중 발생하는 외란을 제거하여 로봇의 자세를 안정 하게 만들어주는 것을 말한다. 본 논문에서는 수치적 방법이나 로봇의 상체 구조를 간략화하여 근사적으로 생성하는 기존의 보행 패턴 방법과는 다르게 범용적으로 사용 가능한 뉴럴네트워크 학습기법을 이용한 로봇의 동작패턴 생성방법에 대하여 연구한다.

• 제어로봇시스템학회논문지
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• 제13권11호
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• pp.1137-1145
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• 2007

Palletizing tasks are necessary to promote efficient storage and shipping of boxed products. These tasks, however, involve some of the most monotonous and physically demanding labor in the factory. Thus, many types of robot palletizing systems have been developed, although many robot motion commands still depend on the teach pendant. That is, the operator inputs the motion command lines one by one. This is very troublesome and, most importantly, the user must know how to type the code. We propose a new GUI(Graphic User Interface) for the palletizing system that is more convenient. To do this, we used the PLP "Fast Algorithm" and 3-D auto-patterning visualization. The 3-D patterning process includes the following steps. First, an operator can identify the results of the task and edit them. Second, the operator passes the position values of objects to a robot simulator. Using those positions, a palletizing operation can be simulated. We chose a widely used industrial model and analyzed the kinematics and dynamics to create a robot simulator. In this paper we propose a 3-D patterning algorithm, 3-D robot-palletizing simulator, and modified trajectory generation algorithm, an "overlapped method" to reduce the computing load.

• 대한기계학회논문집
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• 제15권1호
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• pp.241-251
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• 1991

본 연구에서는 이런 점들을 고려, 난류유동장 내의 실제 입자운동을 좀더 사 실에 가깝도록 해석할 수 있는 모델을 제시하여 아직 실험에 의존하고 있는 관계분야 에 그 이론적 응용범위를 넓히는데 그 목적을 두었따. 본 연구의 목적상 입자가 존 재하는 난류장의 통계적 특성은 이미 알고 있는 것으로 가장하였으며 유체 내의 입자 농도가 충분히 낮고 입자의 크기가 충분히 작아서 입자가 유동장에 미치는 영향은 무 시할 수 있다고 간주하였다.

• 한국항공우주학회지
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• 제37권12호
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• pp.1252-1257
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• 2009

항공기의 외부장착물 분리해석이 가능한 Off-line 6-DOF 시뮬레이션 프로그램을 개발 하였다. 개발한 프로그램은 풍동시험이나 CFD 해석을 통해 구축된 공력 데이터베이스를 이용하여 외부장착물의 분리 궤적을 예측할 수 있다. 공력 계수의 계산에는 flow angle 방법을 적용하였으며 분리 궤적 계산에는 사출력과 구속 조건의 적용이 가능하도록 하였다. 개발한 프로그램을 이용하여 군용항공기의 분리 궤적을 계산하였으며 이를 CTS 시험 결과와 비교하였다.

• ETRI Journal
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• 제44권4호
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• pp.641-653
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• 2022

In the process of autonomous vehicle motion planning and to create comfort for vehicle occupants, factors that must be considered are the vehicle's safety features and the road's slipperiness and smoothness. In this paper, we build a mathematical model based on the combination of a genetic algorithm and a neural network to offer lane-change solutions of autonomous vehicles, focusing on human vehicle control skills. Traditional moving planning methods often use vehicle kinematic and dynamic constraints when creating lane-change trajectories for autonomous vehicles. When comparing this generated trajectory with a man-generated moving trajectory, however, there is in fact a significant difference. Therefore, to draw the optimal factors from the actual driver's lane-change operations, the solution in this paper builds the training data set for the moving planning process with lane change operation by humans with optimal elements. The simulation results are performed in a MATLAB simulation environment to demonstrate that the proposed solution operates effectively with optimal points such as operator maneuvers and improved comfort for passengers as well as creating a smooth and slippery lane-change trajectory.

• 제어로봇시스템학회지
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• 제2권3호
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• pp.81-91
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• 1996

이 글에서는 Multi-Tasking Real Time O.S인 VxWorks를 기본으로 하여 다중센서 융합(Multi-Sensor Fusion) 능력을 갖는 다중 로봇 협조제어 시스템의 구현에 대하여 살펴보았다. 본 제어 시스템은 두대 로봇의 제어에 필요한 장애물 회피, 조건 동작(Conditional Motion) 혹은 동시동작(Concurrent Motion)과 외부 디바이스와의 동기 Motion(Conveyor Tracking)을 수행할 수 있게 구현하였고, 몇몇 작업을 통해 우수성을 입증하였다. 앞으로 본 연구와 관련한 추후 과제로는 1) 자유도가 6관절형인 수직다관절 매니퓰레이터를 위한 충돌회피 알고리즘의 개발, 2) Two Arm Robot의 상대 위치를 위한 Auto-Calibration 시스템의 개발, 3) CAD Based Trajectory 생성 등이 있다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.36.6-36
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• 2002

$\textbullet$ Human motion consists of continual impact with environment $\textbullet$ External impulse model of kicking motion $\textbullet$ Models of aerodynamic forces $\textbullet$ Analysis of external impulse according to posture $\textbullet$ Simulation of a soccer ball trajectory

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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• pp.151-155
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• 1996

In this paper, the continuous motion of a quadrupedal walking machine was studied. The motion planning which is able a walking machine body to precisely follow a three-dimensional curve was developed. A three-dimensional curve was designed based on Bezier curve and obstacle avoidance considerations. Due to the arbitrary motion direction during walking, special strategies of gaits were developed to ensure positive stability. The gait strategies were based on wave and wave-crab gait.