• Journal of Mechanical Science and Technology
• /
• v.15 no.8
• /
• pp.1119-1131
• /
• 2001

In this paper we formulate an optimization based approach to determining the maximally inscribed rectangle in a robots workspace. The size and location of the maximally inscribed rectangle is an effective index for evaluating the size and quality of a robots workspace. Such information is useful for, e. g., optimal worktable placement, and the placement of cooperating robots. For general robot workspaces we show how the problem can be formulated as a constrained nonlinear optimization problem possessing a special structure, to which standard numerical algorithms can be applied. Key to the rapid convergence of these algorithms is the choice of a starting point; in this paper we develop an efficient computational geometric algorithm for rapidly obtaining an approximate solution suitable as an initial starting point. We also develop an improved version of the algorithm of Haug et al. for calculating a robots workspace boundary.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.6
• /
• pp.560-567
• /
• 2007

The objective of this research is to optimize the designing parameters of the parallel manipulator with large orientation workspace at the boundary position of the constant orientation workspace (COW). The method uses a simple genetic algorithm(SGA) while considering three different kinematic performance indices: COW and the global conditioning index(GCI) to evaluate the mechanism's dexterity for translational motion of an end-effector, and orientation workspace of two angle of Euler angles to obtain the large rotation angle of an end-effector at the boundary position of COW. Total fifteen cases divided according to the combination of the sphere radius of COW and rotation angle of orientation workspace are studied, and to decide the best model in the total optimized cases, the fuzzy inference system is used for each case's results. An optimized model is selected as a best model, which shows better kinematic performances compared to the basis of the pre-existing model.

• Korean Institute of Interior Design Journal
• /
• v.23 no.3
• /
• pp.204-211
• /
• 2014

The development of digital culture has brought radical change in the fundamental concept of what workspace is defined by and has also switched the cognition of workspace originally being a place to spend time and do activities regarding tasks into space more than just that. If we take a look at the cases overseas firms have announced after the year 2000, we can find distinguishing facts different from the existing workspace composition, like creative workspace, amusement workspace, workspace for communities, etc. Thereupon, the goal of this research is to look into the domestic characteristics of workspace by investigating and analyzing case by case targeting domestic firms. This research is to first comprehend the theoretical study of workspace, the changing environment, and the characteristics of domestic workspace, going on to utilizing the information achieved above to analyze 8 appointed domestic firms as examples. Contemporary domestic workspace is defined not a place only for activities regarding work tasks but rather a place comfortable and friendly in the concept of a second residence, community node for sharing knowledge and information, mobile space for the digital nomads, and space for coincidental encountering and communication. Based on this the analyzed characteristics of contemporary domestic work places are metaphor, convergence, beyond boundary, and emergence. The characteristics mentioned above are considered elements that increase corporate profits by managing efficient smart-work and producing creative ideas. Therefore, I believe continuous research and development related to this subject is necessary.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1994.10a
• /
• pp.893-900
• /
• 1994

In this study, workspace analysis has been performed for a Clemens Coupling type parallel robotic wrist with four degrees of freedom such as three angular degrees of freedom and 1 plunge motion. Because of plunge motion, this mechanism has no singular point that the general roll-pitch-roll mechanisms have. Also, proposed mechanism performs larger load, faster motion, with less weight and has better structural characteristics such as higher stiffness and strength to weight ratio compared with serial type mechanisms. As a basic step for position control, the closed form solution of forward and inverse kinematics are proposed and workspace is analyzed and plotted by applying triangle tracer method for workspace boundary tracing.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.1585-1588
• /
• 1997

In this paper, divide total workspace of robot manipulator into several subspaces and construct PID controller ineach subspace. Using EvolutionSTrategy we optimize the gains of PID controller in each subspace. But the gains may have a large difference on the boundary of subspaces, which can cause bad oscillatory performance. So we use Aritificial Neural Network to have continuous gain curves htrough the entire subspaces. Simualtion results show that the proposed method is quite useful.

• The Transactions of the Korean Institute of Electrical Engineers A
• /
• v.48 no.8
• /
• pp.1014-1021
• /
• 1999

PID controllers with constant gains have been widely used in various control systems. But it is difficult to have uniformly good control performance in all operating conditions. In this paper, we propose a variable PID controller for robot manipulators. We divide total workspace of manipulators into several subspaces. PID controllers in each subspace are optimized using evolution strategy which is a kind of global search algorithm. In real operation, the desired trajectories may cross several subspaces and we select the corresponding gains in each subspace. The gains may have large difference on the boundary of subspaces, which may cause oscillatory motion. So we use artificial neural network to have continuous smooth gain curves to reduce the oscillatory motion. From the experimental results, although the proposed variable PID controller for robots should pay for some computational burden, we have found that the controller is more superior to the conventional constant gain PID controller.

• Journal of Internet Computing and Services
• /
• v.19 no.1
• /
• pp.67-76
• /
• 2018

This paper addresses the problem of efficient processing of region monitoring queries. The centralized methods used for existing region monitoring query processing assumes that the mobile object periodically sends location-updates to the server and the server continues to update the query results. However, a large amount of location updates seriously degrade the system performance. Recently, some distributed methods have been proposed for region monitoring query processing. In the distributed methods, the server allocates to all objects i) a resident domain that is a subspace of the workspace, and ii) a number of nearby query regions. All moving objects send location updates to the server only when they leave the resident domain or cross the boundary of the query region. In order to allocate the resident domain to the moving object along with the nearby query region, we use a query index structure that is constructed by splitting the workspace recursively into equal halves. However, However, the above index structure causes unnecessary division, resulting in deterioration of system performance. In this paper, we propose an adaptive split method to reduce unnecessary splitting. The workspace splitting is dynamically allocated i) considering the spatial relationship between the query region and the resultant subspace, and ii) the distribution of the query region. We proposed an enhanced QR-tree with a new splitting method. Through a set of simulations, we verify the efficiency of the proposed split methods.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.314-319
• /
• 2005

When a robot navigates in the real environment, it frequently meets various environments that can be expressed by simple geometrical shapes such as fiat floor, uneven floor, floor with obstacles, slopes, concave or convex corners, etc. Among them, the convex corner composed of two plain surfaces is the most difficult one for the robot to negotiate. In this paper, we propose a gait planning algorithm to help the robot overcome the convex environment. The trajectory of the body is derived from the maximum distance between the edge boundary of the corner and the bottom of the robot when it travels in the convex environment. Additionally, we find the relation between kinematical structure of the robot and its ability of avoiding collision. The relation is realized by considering the workspace and the best posture of the robot in the convex structure. To provide necessary information for the algorithm, we use an IR sensor attached in the leg of the robot to perceive the convex environment. The validity of the gait planning algorithm is verified through simulations and the performance is demonstrated using a quadruped walking robot, called "MRWALLSPECT III"( Multifunctional Robot for WALL inSPECTion version 3).

• Transactions on Control, Automation and Systems Engineering
• /
• v.3 no.4
• /
• pp.217-222
• /
• 2001

We propose a new two-degree of freedom parallel mechanism for a haptic device and will refer to the mechanism as the SenSation. The SenSation is designed in order to improve the kinematic performanced and to achieve static balance. We use the panto graph mechanisms in order to change the location of active joints, which leads to transform a direct kinematic singularity into a nonsingularity. The direct kinematic singular configurations of the SenSation occur near the workspace boundary. Using the property that position vector of rigid body rotating about a fixed point is normal to the velocity vector, Jacobian matrix is derived. Using the vector method, two different types of singularities of the SenSation can be identified and we discuss the physical significance of each of the three types of singularities. We will compare the kinematic performances(force manipulability ellipsoid, kinematic isotropy) of the SenSation with those of five-var parallel mechanism. By specifying that the potential energy be fixed, the conditions for the static balancing of the SenSation is derived. The static balancing is accomplished by changing the center of mass of the links.