• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.1145-1149
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• 1990

This paper proposes a numerical method for redundant manipulators using predetermined optimal resolution. In order to obtain optimal joint trajectories, it is desirable to formulate redundancy resolution as an optimization problem having an integral cost criterion. We predetermine the trajectories of redundant joints in terms of the Nth partial sum of the Fourier series, which lead to the solution in the desirable homotopy class. Then optimal coefficients of the Fourier series, which yield the optimal solution within the predetermined class, are searched by the Powell's method. The proposed method is applied to a 3-link planar manipulator for cyclic tasks in Cartesian space. As the results, we can obtain the optimal solution in the desirable homotopy class without topological liftings of the solution. To show the validity of the proposed method, we analyze both optimal and extremal solutions by the Fast Fourier Transform (FFT) and discuss joint trajectories on the phase plane.

• 전자공학회논문지B
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• 제29B권3호
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• pp.6-15
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• 1992

This paper proposes a method for the global optimization of redundancy over the whole task period for a kinematically redundant robot. The necessary conditions based on the calculus of variations for an integral type cost criterion result in a second-order differential equation. For a cyclic task, the periodic boundary conditions due to conservativity requirements are discussed. We refine the two-point boundary value problem to an initial value adjustment problem and suggest a numerical search method for providing the conservative global optimal solution using the gradient projection method. Since the initial joint velocity is parameterized with the number of the redundancy, we only search the parameter value in the space of as many dimensions as the number of degrees of redundancy. We show through numerical examples that multiple nonhomotopic extremal solutions and the generality of the proposed method by considering the dynamics of a robot.

• Structural Engineering and Mechanics
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• 제43권6호
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• pp.739-759
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• 2012

The tailoring optimization technique recently developed by the author for improving structural response and energy absorption of composites is extended to sandwich shells using a previously developed zig-zag shell model with hierarchic representation of displacements. The in-plane variation of the stiffness properties of plies and the through-the thickness variation of the core properties are determined solving the Euler-Lagrange equations of an extremal problem in which the strain energy due to out-of-plane strains and stresses is minimised, while that due to their in-plane counterparts is maximised. In this way, the energy stored by unwanted out-of-plane modes involving weak properties is transferred to acceptable in-plane modes. As shown by the numerical applications, the critical interlaminar stress concentrations at the interfaces with the core are consistently reduced without any bending stiffness loss and the strength to debonding of faces from the core is improved. The structural model was recently developed by the author to accurately describe strain energy and interlaminar stresses from the constitutive equations. It a priori fulfills the displacement and stress contact conditions at the interfaces, considers a second order expansion of Lame's coefficients and a hierarchic representation that adapts to the variation of solutions. Its functional d.o.f. are the traditional mid-plane displacements and the shear rotations, so refinement implies no increase of the number of functional d.o.f. Sandwich shells are represented as multilayered shells made of layers with different thickness and material properties, the core being treated as a thick intermediate layer.