• Title, Summary, Keyword: Kinematic Constraints

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Dynamic Walking and Inverse Dynamic Analysis of Biped Walking Robot (이족보행로봇의 동적보행과 역동역학 해석)

  • Park, In-Gyu;Kim, Jin-Geol
    • Proceedings of the KSME Conference
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    • pp.548-555
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    • 2000
  • The dynamic walking and the inverse dynamics of the biped walking robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian coordinates, then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot, the holonomic constraints are added or deleted on the equations of motion. The number of these constraints can be changed by types of walking pattern with three modes. In order for the dynamic walking to be stabilizable, optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

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An Investigation on Design of the Gear Reductioner for the Vibration Suppression (진동 저감을 위한 치차감속기 설계에 대한 연구)

  • 이형우;박노길
    • Journal of KSNVE
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    • v.5 no.2
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    • pp.183-195
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    • 1995
  • The mathematical model of the gear reductioner which consists which consists of the geared rotor-bearing system containing case is developed, assuming as the lumped parameter system. Constraints for vibration suppresion as well as strength of gear teeth, and shaft and kinematic conditions in gear pairs are considered. To find the design parameters satisfing the proposed constraints, a direct search method modified by the technique of Taguchi's experimental scheduling is used. One and two stepped gear reductioners are designed so that the criticl speeds due to the gear transmission error are moved out of the operating speed range.

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Dynamically-Correct Automatic Transmission Modeling (동적 특성을 고려한 자동변속기의 모델링)

  • 김정호;조동일
    • Transactions of the Korean Society of Automotive Engineers
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    • v.5 no.5
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    • pp.73-85
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    • 1997
  • An automatic transmission is an important element of automotive power systems that allows a driving convenience. Compared to a manual transmission, however, it has a few problems in efficiency, shift feel, and maintenance. To improve these, it is imperative to understand the dynamics of automatic transmissions. This paper develops a dynamically-correct model of an automatic transmission, using the bond graph method. The bond graph method is ideally suited for modeling power systems, because the method is based on generalized power variables. The bond graph method is capable of providing correct dynamic constraints and kinematic constraints, as well as the governing differential equations of motion. The bond graph method is applied to 1-4 in-gear ranges, as well as various upshifts and downshifts of an automatic transmission, which allows an accurate simulation of an automatic transmission. Conventional automatic transmission models have no dynamic constraint, which do not allow correct simulation studies.

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Uncalibrated Visual Servoing through the Efficient Estimation of the Image Jacobian for Large Residual

  • Kim, Gon-Woo
    • Journal of Electrical Engineering and Technology
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    • v.8 no.2
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    • pp.385-392
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    • 2013
  • An uncalibrated visual servo control method for tracking a target is presented. We define the robot-positioning problem as an unconstrained optimization problem to minimize the image error between the target feature and the robot end-effector feature. We propose a method to find the residual term for more precise modeling using the secant approximation method. The composite image Jacobian is estimated by the proper method for eye-to-hand configuration without knowledge of the kinematic structure, imaging geometry and intrinsic parameter of camera. This method is independent of the motion of a target feature. The algorithm for regulation of the joint velocity for safety and stability is presented using the cost function. Adaptive regulation for visibility constraints is proposed using the adaptive parameter.

A Motion Editing System for Handling Autonomous Creation of Character Animation

  • Lee, Ji-Hong;Kim, In-Sik
    • 제어로봇시스템학회:학술대회논문집
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    • pp.117.1-117
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    • 2001
  • A motion handling technique that transforms existing animation motion data to a mathematically well-defined form. The transformed data can be utilized in any kind of autonomous motion creation process that handles such cases as changed environment, structure (kinematic / dynamic) modification, or changed constraints. To overcome the computational burden of traditional spacetime optimization, we divide full motion data frame into several parts, and we applied the transformation technique to each part using an optimizing tool(CFSQP). To show Ire feasibility of the proposed method, a comparison study results with traditional technique is included.

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A Study on Efficient Analysis of Delamination Buckling of Composite Structures (효율적인 복합재료구조물의 delamination buckling 해석기법에 관한 연구)

  • 황재웅;김용협
    • Proceedings of the Korean Society For Composite Materials Conference
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    • pp.80-84
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    • 2000
  • A mesh superposition technique is presented for an efficient analysis of structural behavior. Refined child mesh is superimposed over parent elements for the region of interest. It is a kind of adaptive mesh refinement, which allows locally refined mesh without introducing transition region or multipoint constraints. Proper boundary condition is necessary to avoid redundant rigid body motion and kinematic compatibility between neighbor elements. Delamination buckling analysis is conducted to demonstrate accuracy and efficiency of the present method.

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A method of formulating the equations of motion of multibody systems (다몸체 시스템의 운동방정식 형성방법)

  • 노태수
    • 제어로봇시스템학회:학술대회논문집
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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.

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Geometrical approach for the workspace of a 6-DOF parallel manipulator (6자유도 병렬형 매니퓰레이터의 작업공간결정을 위한 기하학적 접근)

  • 김도익;정완균;염영일
    • 제어로봇시스템학회:학술대회논문집
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    • pp.217-220
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    • 1996
  • In this paper, a fully geometrical method for the determination of the workspace of a 6-DOF parallel manipulator is presented using the concept of 4-bar linkage. The reachable and dexterous can be determined from the proposed algorithm. In order to evaluate the workspace, each leg is considered as an open chain, and two kinematic constraints are developed. The proposed method is verified by simulation.

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A study on the control for impactless gait of biped robot (이족보행로봇의 비충격 걸음새를 위한 제어에 관한 연구)

  • 박인규;김진걸
    • 제어로봇시스템학회:학술대회논문집
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    • pp.536-539
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    • 1997
  • This paper presents a three dimensional modeling and a trajectory generation for minimized impact walking of the biped robot. Inverse dynamic analysis and forward dynamic analysis are performed considering impact force between the foot and ground for determining the actuator capacity and for simulating the proposed biped walking robot. Double support phase walking is considered for close to human's with adding the kinematic constraints on the one of the single support phase.

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An Optimal Admissible Trajectory Determination for a Cooperating Two-Robot System (두 로보트의 협력제어를 위한 최적조작가능 경로의 결정 방법)

  • Lim, Joon-Hong
    • Journal of the Korean Institute of Telematics and Electronics
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    • v.26 no.9
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    • pp.1332-1339
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    • 1989
  • The problem of finding an admissible object trajectory for a cooperating two-robot system is investigated. The method is based on reformulating the problem as a nonlinear optimization problem with equality constraints in terms of the joint variables. The optimization problem is then solved numerically on a computer. The solution automatically gives the corresponding joint variable trajectories as well, thus eliminating the need for solving the inverse kinematic problem. The performance indices are chose in joint and cartesian spaces and computer simulations are performed.

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