• 한국생산제조학회지
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• 제20권6호
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• pp.778-784
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• 2011

This paper presents the study on orientations interpolation of 6-axis articulated robot using quaternion. In this paper, we propose a control algorithm between given two orientations of 6-axis articulated robot by using a quaternion with spherical linear interpolation. In order to study the quaternion interpolation, We created Inverse kinematics program and Interpolation program using LabVIE$^{(R)}$. The rotation angle of each axis were calculated using both euler orientations interpolation program and quaternion orientations interpolation program. The proposed control algorithm is shown to be effective in terms of motor angles and torques when compared to a conventional Euler angle interpolation, by using both LabVIEW$^{(R)}$ and RecurDyn$^{(R)}$.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1832-1835
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• 2005

This paper presents the steering control algorithm of an up and down motion robot using a quaternion. The up and down motion robot is to be moved on an irregular floor that can inevitably result in the errors of both position and orientation. Especially the orientation error should be compensated every work in order to adjust the misaligned values of current orientation to those commanded values. In this paper, we propose a new steering control algorithm between the two values by using a quaternion with spherical cubic interpolation. The proposed algorithm is shown to be effective in terms of vibration when compared to a conventional simple compensation without interpolation, by using $MATLAB^{(R)}$ and $VisualNastran4D^{(R)}$

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.658-663
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• 2005

This paper presents the steering control algorithm of a locomotion robot using a quaternion. The locomotion robot is to be moved on an irregular floor that can inevitably result in the errors of both position and orientation. Especially the orientation error should be compensated every work in order to adjust the misaligned values of current orientation to those commanded values. In this paper, we propose a new steering control algorithm between the two values by using a quaternion with spherical cubic interpolation. The proposed algorithm is shown to be effective in terms of vibration when compared to a conventional simple compensation without interpolation, by using $MATLAB^{(R)}$ and $VisualNastran4D^{(R)}$.

• Journal of applied mathematics & informatics
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• 제23권1_2호
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• pp.73-86
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• 2007

The general stereographic projection which maps a point on a sphere with arbitrary radius to a point on a plane stereographically and its inverse projection have the pythagorean-hodograph (PH) preserving property in the sense that they map a PH curve to another PH curve. Upon this fact, for given spatial $C^1$ Hermite data, we construct a spatial PH curve on a sphere that is a $C^1$ Hermite interpolant of the given data as follows: First, we solve $C^1$ Hermite interpolation problem for the stereographically projected planar data of the given data in $\mathbb{R}^3$ with planar PH curves expressed in the complex representation. Second, we construct spherical PH curves which are interpolants for the given data in $\mathbb{R}^3$ using the inverse general stereographic projection.

• 한국전자파학회논문지
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• 제26권1호
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• pp.88-93
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• 2015

대규모 물체의 RCS(Radar Cross Section)값을 임의의 각도에서 예측하기 위해, 미리 계산된 샘플링 지점 외 각도에서는 보간법을 사용한다. 대규모 물체의 경우, RCS 데이터베이스를 구성하기 위해 많은 입사각도에서 RCS값을 계산해야 한다. 이는 수치적으로 시간이 많이 걸려, 실질적으로 필요한 모든 입사각에서 RCS값을 미리 계산하기는 어렵다. 그러므로 가능한 적은 샘플을 이용하여 데이터베이스를 구축하고, 이를 보간하여 RCS값을 예측하는 방법이 필요하다. 본 논문에서는 계산된 RCS를 임의의 각도에서 예측하기 위한 보간법으로 Sinc 함수 및 VSH(Vector Spherical Harmonics) 함수를 이용한 방법을 고려하고, 그 정확성을 시뮬레이션을 통하여 검증한다.

• 한국공작기계학회논문집
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• 제15권6호
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• pp.1-7
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• 2006

This paper presents the study in the development of optimal working method for an outer-hull preprocessing robot using a quaternion. The out-hull preprocessing robot consists of feathering and cleaning parts. This robot should be controlled correctly for feathering work because it is to be worked on a curved plate that can result in the errors of orientation. In this paper, we propose a control algorithm between given two orientations of the out-hull preprocessing robot by using a quaternion with spherical linear interpolation. The proposed control algorithm is shown to be effective in terms of motor angles and torques when compared to a conventional Euler angle interpolation, by using both $MATLAB^{\circledR}$ and $VisualNastran4D^{\circledR}$.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.321-322
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• 2011

• 한국산림과학회지
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• 제86권1호
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• pp.17-24
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• 1997

지구(地球)의 잠재자연식생분포(潛在自然植生分布)를 추정(推定)하기 위한 첫단계로서 자연식생분포(自然植生分布)와 밀접(密接)한 관계가 있는 기온(氣溫)과 강수량(降水量)에 대한 최적구면보간방법(最適球面補間方法)을 개발하기 위해, Light Climatic Dataset로 명명(命名)한 전세계에 분포(分布)된 1,060점의 측후소(測候所)의 실측자료(實測資料)를 보간용(補間用)과 검정용(檢定用)으로 무작위(無作爲) 2등분(等分)하고, 검정용(檢定用) 측후소(測候所)에 있어서 관측치(觀測値)와 보간용(補間用)에 의한 추정치(推定値)와의 오차(誤差)를 보간방법(補間方法)과 파라메타가 틀린 조합(組合)에 대해 상호비교(相互比較)하였다. 보간용(補間用)에 의한 추정치(推定値)는, 측후소(測候所)의 선택법(選擇法)으로 전점(全点), 정점(定点), 안반경(安半徑)의 3가지 방법, 거리에 대한 하중(荷重)으로 n승 반비례(反比例), 부(負)의 지수함수(指數函數)의 2가지 방법, 방위(方位)에 관한 하중(荷重)으로 타원하중법(楕圓荷重法), 각각에대해 상호조합(相互組合)하여 산출(算出)되었다. 그 결과, 측후소(測候所)의 선택법(選擇法)은 정반경법(定半徑法), 거리(距離)에 관한 하중식(荷重式)은 부(負)의 지수함수(指數函數), 방위(方位)에 관한 하중법(荷重法)은 타원하중법(楕圓荷重法)을 조합(組合)하는 것이 기온(氣溫)과 강수량(降水量)의 보간(補間)에 적합(適合)하였으며, 그에 관한 파라메타 값은 기온(氣溫)에 있어서 정반경(定半徑) $30^{\circ}$, -0.78의 지수함수(指數函數), 타원하중(楕圓荷重) 0.4로, 강수량(降水量)에 있어서는 각각 $35^{\circ}$, -0.53, 1.2로 나타났다.

• The Korean Journal of Ecology
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• 제19권5호
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• pp.403-416
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• 1996

Global natural vegetation mapping (GNVM) system was developed for estimating potential forest area of the globe. With input of monthly mean temperature and monthly precipitation observed at weather stations, the system spherically interpolates them into 1°×1°grid points on a blobe, converts them into vegetation types, and produces a potential vegetation map and a potenital vegetation area. The spherical interpolation was based on negative exponential function fed from the constant radius stations with oval weighing method which is latitudinally elongated weighing in temperature and longitudinally elongated weighing in precipitation. The temperature values were corrected for altitude by applying a linear lapse-rate (0.65℃ / 100m) with reference to a built-in digital terrain map of the globe. The vegetation classification was based upon Koppen’s sKDICe. The potential forest area is estimated for 6.96 Gha (46.24％) of the global land area (15.05 Gha).

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1998년도 하계종합학술대회논문집
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• pp.581-584
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• 1998

To obtain 3-D topography of EEG records, we propose a new method based on the polygon mapping technique. The method has the low complexity to calculate the interpolation of the EEG records on the scalp and maintains the high resolution topography because the polygon technique performs the interpolation at the only vertexes of each polygon. We implemented the topographic system with 3D barycentric, 3D polynomial and spherical spline algorithms in a personal computer.