• 한국공작기계학회논문집
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• 제11권3호
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• pp.21-27
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• 2002

In this paper, we have developed a Widows 98 version Off-Line Programming System which can simulate a Robot model in 3D Graphics space. The SCARA robot with four joints (FARA SM5)was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the OLP system in the Widows 98's GUI environment was also studied. The developing language is Microsoft Visual C++. Graphic 1ibraries, OpenGL, by silicon Graphics, Inc. were utilized for 3D Graphics.

• 한국생산제조학회지
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• 제11권3호
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• pp.21-27
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• 2002

We developed a Off-Line Graphic Simulator which can simulate a robot model in 3D graphics space in Windows 95 version. 4 ares SCARA robot was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the off-line program system in the Windows 95's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D graphics.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 추계학술대회논문집 - 한국공작기계학회
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• pp.119-124
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• 2000

We developed a Off-Line Graphic Simulator which can simulate a robot model in 3D graphics space in Windows 95 version. 4 axes SCARA robot was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program The interface between users and the off-line program system in the Windows 95's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D graphics.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 추계학술대회 논문집
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• pp.250-255
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• 2002

We developed a Off-Line Graphic Simulator which can simulate a robot model in 3D graphics space in Windows 98 version. 4 axes industrial robot was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the off-line program system in the Windows 98's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D graphics.

• 한국정밀공학회지
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• 제15권9호
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• pp.158-166
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• 1998

This paper presents a geometrical approach to the characteristic analysis of parallel mechanism with free joints intended for use as a planar task robot. Solution of the forward and inverse kinematic problems are described. Because the mechanism has only three degree-of-freedom output, constraint equations must be generated to describe the inter-relationship between actuated joints and free joints so as to describe the position and orientation of the moving platform. Once these constraints are incorporated into the kinematics model, a constrained Jacobian matrix is obtained. and it is used for the solution of the forward kinematic equations by Newton-Raphson technique. Another Jacobian matrix was derived to describe the interrelationship between actuated joints and moving platform. The stiffness, velocity transmission ratio, force transmission ratio and dexterity of the mechanism are then determined based on this another Jacobian matrix. The geometrical construction of the mechanism for the best performance was investigated using the characteristic analysis.

• 정보처리학회논문지B
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• 제10B권6호
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• pp.657-664
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• 2003

사람의 동작을 믿을 수 있게 따라가는 것은 감시용 비디오나 사람과 컴퓨터간의 사용자 인터페이스 개발에 있어서 필수적이다. 이 논문은 모습 기반법(appearance-based method)과 모델 사용법을 혼용하여 사람을 추적하는 새로운 방법에 관한 논문이다. 하나의 비디오 입력이 화소 단위 및 물체 단위로 처리된다. 화소 단위의 처리에 있어서 개별 화소색을 분류하는 훈련방법으로, 가우스 혼합 모델(Gaussian mixture model)을 사용하였다. 물체 단위의 처리에 있어서 사람 몸에 대한 삼차원 모델링을 하고, 모델 몸체를 투사면(projection plane)에 투사시켰다. 투사된 몸체와 배경을 제외한 영상과 계산 기하 방법을 사용하여, 화소보다 작은 단위로 겹쳐지는 면적을 계산하였다. 우리의 방법은 정방향 기구학 (forward kinematics)을 사용하므로 역방향 기구학(inverse kinematics)을 사용하는 방법과 달리 계산 결함(singularity)을 갖지 않는다. 이 논문에서는 사람의 동작을 추적하기 위한 문제를 비선형 방정식 문제로 바꾸었다. 비선형 방정식의 비용 함수는 전경(foreground)의 영상 실루엣(silhouette)과 투사된 삼차원 모델 몸체의 실루엣의 겹쳐지는 면적이다. 화소 단위의 영상을 화소를 하나의 면적으로 계산함으로써, 겹쳐지는 면적에 대한 실수 단위의 계산은 계산 기하를 사용하였다. 이 논문의 방법은 다양한 사람 동작을 인식하기 위하여 사용되었다. 비디오에 나타나는 사람 동작 추적은 매우 우수하다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 춘계학술대회논문집
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• pp.556-560
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• 2007

In this paper, the research results for the improvement of tracking performance of a hydraulic shaking table are presented. A servo-hydraulic shaking table is not only highly nonlinear but also has a lot of time delay. In addition, the shaking table, which consists of multi axial hydraulic actuators, is a MIMO system coupled by kinematics and dynamics of each other's actuators. And it is demanded for the shaking table to track arbitrary trajectories up to high frequency even at the extreme situations such as substantial external loads and large disturbances. For this purpose, an iterative feed-forward control based on the inverse of a measured frequency response function is used for the shaking table. To solve the dynamic coupling, a pressure feedback control as numerical damping is used. It is shown through numerical simulations that the tracking performance of shaking table is improved up to 100Hz.

• 제어로봇시스템학회논문지
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• 제7권6호
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• pp.532-539
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• 2001

In robot teleoperation, much research has been carried out to control the slave robot from remote site. One of the essential devices for robot teleoperation is the masterarm, which is a path command generating device worn on human arm. In this paper, a new masterarm based on human kinematics is proposed. Its controller is based on the distributed controller architecture composed of two controller parts: a host controller and a set of satellite controllers. Each satellite controller measures the corresponding joint angle, while the host controller performs forward and inverse kinematics calculation. This distributed controller architecture can make the data updating faster, which allows to implement real-time implementation. The host controller and the satellited controllers are networked via three-wire daisy-chained SPI(Serial Peripheral Interface) protocol, so this architecture makes the electrical wiring very simple, and enhances maintenance. Analytical method for finding three additional unknown joint angles is derived using only three measured angles for each shoulder and wrist, which makes th hardware implementation very simple by minimizing the required number of satellite controllers. Finally, the simulation and experiment results are given to demonstrate the usefulness and performance of the proposed masterarm.

• 한국CDE학회논문집
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• 제12권6호
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• pp.429-440
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• 2007

The purpose of this research is to develop the Human-centered CAD system in which human factors can be considered during the design stage. For this system there are several issues to research, like the digital human modeling technology, the definition of interactions between human and product, the simulation of human motion when using the product, and the bio-mechanical analysis of human, etc. This paper introduces how to construct the kinematical structure of the digital human model. For our digital human model H-ANIM, the international specification of humanoid animation is referenced. And we added the skeleton geometry and the skin surfaces to our model. And it can manipulate its joints by forward kinematics. Also the IKAN inverse kinematics algorithm is adopted to support the posture prediction of the digital human model in the product environment. All of these ideas are implemented using CAD API so that we can apply these functions to the current commercial CAD systems. In this manner, the human factor issues can be effectively taken into account at the early design phase and the costs of bio-mechanical evaluation will be significantly reduced.

• 한국기계가공학회지
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• 제16권4호
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• pp.113-118
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• 2017

As the demand for industrial robots and Automated Guided Vehicles (AGVs) increases, higher performance is also required from them. Fuzzy controllers, as part of an intelligent control system, are a direct control method that leverages human knowledge and experience to easily control highly nonlinear, uncertain, and complex systems. This paper uses a $LabVIEW^{(R)}-based$ fuzzy controller with gain scheduling to demonstrate better performance than one could obtain with a fuzzy controller alone. First, the work area was set based on forward kinematics and inverse kinematics programs. Next, $LabVIEW^{(R)}$ was used to configure the fuzzy controller and perform the gain scheduling. Finally, the proposed fuzzy gain scheduling controller was compared with to controllers without gain scheduling.