• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.37-47
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• 2023

This paper introduced how to construct Denavit-Hartenberg (DH) parameters from the Unified Robot Description Format (URDF). URDF is convenient for describing a robot even though the robot is very complex. On the other hand, DH convention is not an easy notation for many novices who want to describe a robot. Therefore, most vendors provide URDF and users prefer to use URDF to describe a robot. However, some controllers or algorithms are based on DH parameters to perform kinematics, dynamics, control, etc. To connect URDF and DH parameters, we present a three-step approach to construct DH parameters from URDF. The first step is to define the joint axis for constructing DH parameters. The second step is constructing DH parameters to define joint character. The final step is constructing DH parameters to define the coordinate frame of the child link. This approach is based on intuitive vector calculation and guarantees the uniqueness of DH parameters. To verify our approach, we applied our approach to a simple one-link robot, a manipulator with 6 DOF, and a quadruped robot with 3 DOF per leg. We verified that our approach worked well based on forward kinematic results.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.12
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• pp.1014-1021
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• 1989

The problem of controlling static gaits for a quadruped walking robot is investigated. A theoretical approach to gait study is proposed in which the static stability margins for periodic gaits are expressed in terms of the kinematic gait formula. The effects fo the stride length on static stability are analyzed and the relations between static stability and initial body configurations are examined. It is shown that the moving velocity can be increased to some extent without affecting stability margins for a given initial body configuration. Computer simulations are performed to verify the analysis.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.113-118
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• 1988

The problem of controlling static gaits of a Quadruped Walking Robot is investigated. A theoretical approach to the gait study is proposed in which the static stability margins for periodic gaits are expressed in terms of the kinematic gait formula. The effects of the stride length to the static stability are analyzed, and the relations between the static stability and the initial body configurations are examined. Extensive computer simulations are performed to verify the analysis results.

• Structural Engineering and Mechanics
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• v.26 no.1
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• pp.15-30
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• 2007

In the paper, one focuses on the problem of duality in non-linear programming, applied to the solution of no-tension problems by means of Limit Analysis (LA) theorems for Not Resisting Tension (NRT) models. In details, one demonstrates that, starting from the application of the duality theory to the non-linear program defined by the static theorem approach for a discrete NRT model, this procedure results in the definition of a dual problem that has a significant physical meaning: the formulation of the kinematic theorem.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.926-930
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• 1993

An efficient method of formulating the equations of motion of multibody systems is presented. The equations of motion for each body are formulated by using Newton-Eulerian approach in their generic form. And then a transformation matrix which relates the global coordinates and relative coordinates is introduced to rewrite the equations of motion in terms of relative coordinates. When appropriate set of kinematic constraints equations in terms of relative coordinates is provided, the resulting differential and algebraic equations are obtained in a suitable form for computer implementation. The system geometry or topology is effectively described by using the path matrix and reference body operator.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.953-958
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• 1992

This paper deals with the solution of inverse kinematics of the industrial FANUC robot with IBM PC386. The inverse kinematics of FANUC robot cannot be solved by the algebraical method, because arm matirix T$_{6}$ is very complex and 6-joint angles are associated with the position and the approach of end-effector. Instead we fuund otehr 5-joint angle by and algebraical method after finding .THETA.$_{1}$ value by a numerical method.d.

• Korean Journal of Applied Biomechanics
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• v.14 no.1
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• pp.51-63
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• 2004

The purpose of this study was to investigate a three dimensional kinematic variables about the last stride and the release phase of the throwing technique for female javelin throwers. For the motion analysis, Six female javelin throwers were used as subjects. Three-dimensional coordinates were collected using the Kwon3D Motion Analysis Package Version 2.1 Program. Two S-VHS Video Cameras were used to record the locations and orientations of control object and the performances of the subjects at a frequency of 6.0 HZ. After the kinematic variables such as the time, the distance, the velocity, and the angle were analyzed about the last stride and release phase, the followings were achieved; 1. For the effectively javelin throwing, the subjects appeared to do long the approach time in the phasel of landing phase, and short the delivery time in release phase 2. In the release event, the other subjects except for subject A appeared to throwing in the lower condition than the height of themselves. This result showed to slow the projecion velocity. 3. For increase the projection vcelocity of the upper extremity joint in the release event, it appeared to do extend rather the shoulder angle than increase the extension of elbow joint. 4. The body of COG angle showed to gradually increase nearly at the vertical axis in the release event. But the front lean angle of trunk showed a small angle compare to increase of the body of COG angle. Therefore for the effectively momentum transmission of the whole body in the javelin, the front and back lean angle of trunk appeared to do fastly transfer the angle displacement in the arch posture or the crescent condition during the deliverly motion of the release phase.

• Korean Journal of Applied Biomechanics
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• v.14 no.3
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• pp.149-163
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• 2004

This study analyzed kinematic variables about the cross step, the delivery and the release for women's javelin athletics recorded over 50m in the 2004 Busan International Athletics Competition. It was used the Kwon3D Motion Analysis Package Ver. 3.1 Program(Kwon, 2000) for analysing the kinematic variables about the distance, the velocity, and the angle, then we had the results as follows; 1 In the Cross step phase, the COG velocity was low because their step length was short. To keep the CM velocity from the approach to the last cross over step contact, the athletes have to keep the longer step length within about 130% of the athletics' height. 2. In the Delivery phase, the athletics' COG height was gradually lower, and the deceleration of the COG was going up. As the same in the cross step, Therefore the athletes have to increase the step length within about 100% of their height, in order to increasing the COG velocity. And it was shown they have to make small angle of the elbow as possible from the right foot contact to the left foot contact in order to being the big acceleration of the upperarm at the release phase. 3. In the release phase, it was shown to being low position of the release point as the COG was low and then the release velocity of the upperarm was low. Specially when the shoulder lean lateral angle is big at the release phase, it was shown they have a excessive release angle. And, when it was shown the high rotation angle of the shoulder, the shoulder was opened forward bigger than the trunk was opened forward. So the transmission of velocity from the proximal segments was a fast change.

• Journal of Korean Institute of Industrial Engineers
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• v.26 no.1
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• pp.73-80
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• 2000

To determine the exact direction and location of the human joint in motion is crucial in developing a more accurate human model and producing a more fitting artificial joint. There have been several reports on the biomechanical analysis of the joint to determine the anatomy and movement of joints. However, all the previous researches were made in vitro study, that is, they investigated the passive movement of the joint from cadavers and the suggested location of the joint axis was difficult to make practical applications due to the lack of the direction of joint axis. Also, in many biomechanical models, each joint axis is assumed to lie horizontally or vertically to the adjacent links. Such an assumption causes inherent inaccuracy. In this study, the direction and location of the transverse elbow axis was obtained with respect to the global coordinate system whose origin is on the lateral epicondyle of the humerus. The suggested result based on the global coordinate system lying on the external landmark will be helpful to understand the information of the axis and to make an application. From the experiments conducted for five subjects, the direction and location of the elbow transverse joint was determined for each subject by the helical axis method. A statistical validation was also performed to confirm the result. Finally, the result was applied to develop a simple elbow model which is a part of the kinematic arm model. The simple elbow movement model was developed to validate the significance of the result and the kinematic arm model was able to describe the geometry of any complex linkage system. As a result, the errors incurred from the proposed model were significantly reduced when compared to the ones from the previous approach.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.6
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• pp.1509-1517
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• 1993

The purpose of this study is to develop a program for the automatic derivation of the symbolic equations necessary for the kinematic and dynamic analyses of the spatial mechanism. For this purpose, a symbolic manipulation package called MCSYMA is used. Every symbolic equation is formulated using relative joint coordinate to obtain the numerically efficient system equations. These equations are produced in FORTRAN statements and linked to a FORTRAN program for numerical analysis. Several examples are taken for comparison with the commercial package called DADS which is using Cartesian coordinate approach. Also, this symbolic formulation approach is compared with a conventional numerical approach for an example. The results show that this symbolic approach with relative joint coordinate system is most efficient in computational time among three and is recommended for the derivation of macro elements frequently used.