• Journal of the Korean Society for Precision Engineering
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• v.16 no.3 s.96
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• pp.174-179
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• 1999

A binary parallel robot manipulator uses actuators which have only two stable states and is structure is variable geometry truss. As a result, it has a finite number of states and fault tolerant mechanism because of kinematic redundancy. This kind of robot manipulator has the following advantages compared to a traditional one. Feedback control is not required, task repeatability can be very high, and finite state actuators are generally inexpensive. Because the number of states of a binary robot manipulator grows exponentially with the number of actuators, it is very difficult to solve an inverse kinematic problem. The goal of this paper is to develop an efficient algorithm to solve an inverse kinematic problem when the number of actuators are too much or the target position is located outside of workspace. The backbone curve is generated optimally by considering the curvature of the robot manipulator configuration and length of link. Then, the robot manipulator is fitted along the backbone curve with some criteria.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.969-972
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• 2004

This paper describes the mechanism of parallel micro machine platform and its feedback control system for acquiring high accuracy. The parallel micro machine platform that has developed has 5x5x5 work-space and sub-micron accuracy. For the high accuracy, the feedback control system is important but errors in machining and assembling are inevitable. Kinematic calibration is important for this reason. In this paper, various error components are introduced and the effects of error component are analyzed.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.124-126
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• 1989

Inverse kinematic problem is a crucial point for robot manipulator control. In this paper, to implement the Jacobian control technique we used the Hopfield(Tank)'s neural network. The states of neurons represent joint veocities, and the connection weights are determined from the current value of the Jacobian matrix. The network energy function is constructed so that its minimum corresponds to the minimum least square error. At each sampling time, connection weights and neuron states are updated according to current joint position. Inverse kinematic solution to the planar redundant manipulator is solved by computer simulation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.643-646
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• 1997

Gear trains are used in many machinery for variable speed ratios. Typical shapes of gear trains are tivo categories : simple gear trains and planetary gear trains. This paper presents the kinematic ctraracteristics for planetary gear trains. The characteristics are the constraints of geometric relationships, number of gears, speed of each gear. and speed ratio of the train. The objective goal of this paper provides the CAI) software, which is the academic tool for understanding the kinematics of the planetary gear trains.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2000.04a
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• pp.96-100
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• 2000

It is difficult to predict material behavior of forming process because the plastic instable flow phenomenon happens in practical forming process I. e. upsetting backward extrusion piercing indentation. In view of the direct relationship between instable material flow and quality defects of the products we should find out their phenomena, In this study we introduced the plastic spin and the kinematic hardening considering the kinematic hardening constitutive equation for rate-dependent material. Also analysis of upset forging is carried out using the rigid plastic FEM with Al7075

• Journal of The Korean Astronomical Society
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• v.15 no.1
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• pp.19-36
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• 1982

For ${\sim}240$ nearby stars their age and mass were determined and kinematic parameters determined for 362 stars, applying Woolley's three-dimensional potential. Metallicity and kinematic parameters of these stars were correlated with their age, suggesting the slow collapse ($t{\gtrsim}a$ few billion years) of the Galaxy and the initial rapid enrichment in metal abundance (${\Delta}Z{\approx}1/3Z_1$(present) for ${\sim}4{\times}10^8$ yrs). The late slow enrichment rate is given by $d(Z/Z_{\odot})/dt=5.9{\sim}7.0{\pm}3.4$ per Gyr.

• Proceedings of the KSR Conference
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• 2002.10b
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• pp.863-869
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• 2002

Studied in this paper was the kinematic envelope of the railway vehicle to calculate the lateral displacement using the multi-body dynamic simulation program (VAMPIRE) and the BASS 501. The lateral displacement of railway vehicle is occurred by the clearance between wheel flange and rail, the track irregularity, the property of each suspension of vehicle and the cant of track etc. The results of analysis shown that Vehicle is not interfere with subway platform in any conditions namely the tare and full load condition, the wheel wear condition and the stationary and running of vehicle.

• The Bulletin of The Korean Astronomical Society
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• v.45 no.1
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• pp.57.3-57.3
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• 2020

The chemical and kinematic properties of stars in the Galactic halo provide crucial information on the origin of the Galactic halo as well as the assembly history of the Milky Way. In this study, we present metallicity distribution functions (MDFs) in different regions of the Galactic halo as well as the kinematic characteristics in each region. The different MDFs and kinematic properties of stars in investigated regions allow us to associate them with the possible progenitor dwarf galaxies discovered to date; hence the assembly history of the Galactic halo.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.69-72
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• 1996

This paper considers a global resolution of kinematic redundancy under inequality constraints as a constrained optimal control. In this formulation, joint limits and obstacles are regarded as state variable inequality constraints, and joint velocity limits as control variable inequality constraints. Necessary and sufficient conditions are derived by using Pontryagin's minimum principle and penalty function method. These conditions leads to a two-point boundary-value problem (TPBVP) with natural, periodic and inequality boundary conditions. In order to solve the TPBVP and to find a global minimum, a numerical algorithm, named two-stage algorithm, is presented. Given initial joint pose, the first stage finds the optimal joint trajectory and its corresponding minimum performance cost. The second stage searches for the optimal initial joint pose with globally minimum cost in the self-motion manifold. The effectiveness of the proposed algorithm is demonstrated through a simulation with a 3-dof planar redundant manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1289-1292
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• 1997

Typical biomechanical system such as human body and mammals possess abundant muscles which are more than required for motion generation of such systems. We have shown that the excess number of muscles play important roles in spring-like impedance modulation. redundant kinematic structure, which is another feature of biomechanical systems, allows modulations of inertia and damping properties of such systems. In this work, we propose a frequency modulation algorithm which combines the spring-like impedance with inertia impedance. also, a load distribution method for frequency modulation is also introduced. The frequency modulation represents a simulataneous control of force and kinematic redundancies, which has not been addressed in the literature.