• Journal of Animal Environmental Science
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• v.13 no.3
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• pp.179-186
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• 2007

The purpose of this study was kinematics analysis of the multi-joint robot manipulator for an automatic milking system. The multi-joint robot manipulator was consisted of one perpendicular link and four revolution links to attach simultaneously four teat cups to four teats of a milking cow. The local coordinates of each joints on the robot manipulator was given for kinematics analysis. The transformation of manipulator was able to be given by kinematics using Denavit-Hatenberg parameters. The value of inverse kinematics which was solved by two geometric solution methods. The kinematics solutions was verified by AutoCAD, MATLAB, simulation program was developed using Visual C++.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.7 no.1
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• pp.104-111
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• 1998

This study solves the inverse kinematics problem of industrial FANUC robot. Because every joint angle of FANUC robot is dependent on the position of end-effector and the direction of approach vector, arm metrix T6 is very complicated and each joint angle is a function of other joint angles. Therefore, the inverse kinematics problem can not be solved by conventional methods. Noticing the fact that if one joint angle is known, the other joint angles are calculated by the algebraic methods. $ heta$1 is calculated using neumerical analysis method, and solves inverse kinematics problem. This proposed method, in this study, is more simpler and faster than conventional methods and is very useful in the real-time control of the manipulator.

• Journal of Biomedical Engineering Research
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• v.29 no.6
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• pp.431-435
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• 2008

Quantitative information of a three dimensional(3D) kinematics of joint is very useful in knee joint surgery, understanding how knee kinematics related to joint injury, impairment, surgical treatment, and rehabilitation. In this paper, an automated 2D/3D image matching technique was developed to estimate the 3D in vivo knee kinematics using dual X-ray images. First, a 3D geometric model of the knee was reconstructed from CT scan data. The 3D in vivo position and orientation of femoral and tibial components of the knee joint could be estimated by minimizing the pixel by pixel difference between the projection images from the developed 3D model and the given X-ray images. The accuracy of the developed technique was validated by an experiment with a cubic phantom. The present 2D/3D image matching technique for the estimation of in vivo joint kinematics could be useful for pre-operative planning as well as post-operative evaluation of knee surgery.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.1
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• pp.144-153
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• 1997

The determination of the direct kinematics of the parallel mechanism is a difficult problem but has to be solved for any practical use. This paper presents the efficient formulation of the direct kinematics for double parallel robot arm. The robot arm consists of two parallel mechanism, which generate positional and orientational motions, respectively. These motions are decoupled by a passive central axis which is composed of four revolute joints and one prismatic joint. For a set of given lengths of linear actuators, the direct kinematics will find the joint displacements of th central axis from geometric constraints in each parallel mechanism. Then the joint displacements will be converted into the position and the orientation of the end effector of the robot arm. The proposed formulation is decoupled and compacted so that it will be implemented as a real-time direct kinematics. With the proposed formulation, we analyze the motion of the double parallel robot and show its characteristics. Specially, we investigate the workspace in terms of positional space as well as orientational space.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.551-556
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• 1991

This paper deal with the solution of kinematics and inverse kinematics of industrial FANUC robot by the bisection method with IBM PC 386. The inverse kinematics of FANUC robot cannot be solved by the algebraical method, because arm matrix T$_{6}$ is very complex and 6-joint angles are associated with the position and the approach of end-effector. Instead we found other 5-joint angle by an algebraical method after finding .theta.$_{4}$ value by a bisection method.d.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.3
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• pp.133-140
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• 1993

In this paper, we prpose a method for tracking optimally a spatial trajectory of the end-effector of flexible robot arms with multiple joints. The proposed method finds joint trajectories and joint torques necessary to produce the desired end-effector motion of flexible manipulator. In inverse kinematics, optimized joint trajectories are computed from elastic equations. In inverse dynamics, joint torques are obtained from the joint euqations by using the optimized joint trajectories. The equations of motion using finite element method and virtual work principle are employed. Optimal control is applied to optimize joint trajectories which are computed in inverse kinematics. The simulation result of a flexible planar manipulator is presented.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.2
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• pp.414-430
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• 1996

In this paper, a new kinematic structure of a parallel manipulator with six Cartesian degrees of freedom is proposed. It consists of a platform which is connected to a fixed base by means of 3-PPSP(parameters P, S denote the prismatic, spherical joints) subchains. Each subchain has a link which is concected to a passive prismatic joint at the one end and a passive spherical joint at the other. The spherical joint is then attached to perpendicularly arranged prismatic actuators which are fixed at the base. The spherical joint is then attached to perpendicularly arranged prismatic actuators which are fixed at the base. This arrangement provides a basis to control all six Cartesian degrees of motion of the platform in space. Due to its efficient architecture, the colsed-form solutions of the inverse and forward kinematics can be obtained. As a consequence, this new kinematic structure can be servo controlled using simple inverse kinematics becaese forward kinematics allows for measuring the platform's position and orientation in Cartesian space. Furthermore, the proposed structure provides an effective functional workspace. Series of simulations are performed to verify the results of the kinematics analyses.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.254-259
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• 1992

In this paper, we propose an optimal method for the tracking a trajectory of the end-effector of flexible robot arms with multiple joints. The proposed method finds joint trajectories and joint torques necessary to produce the desired end-effector motion of flexible manipulator. In inverse kinematics, optimized joint trajectories are computed from elastic equations. In inverse dynamics, joint torques are obtained from the joint equations by using the optimized joint trajectories. The equations of motion using finite element method and virtual work principle are employed. Optimal control is applied to optimize joint trajectories which are computed in inverse kinematics. The simulation of flexible planner manipulator is presented.

• Proceedings of the IEEK Conference
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• 1999.06a
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• pp.655-658
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• 1999

In this paper we design a key-frame editor for 3D sign-language animation using the inverse kinematics. Using the editor, we can calculate the joint angles for two arms automatically. Up to now we have computed the values of the joint angles using the forward kinematics, where we have determined the values heuristically based on our experiences. To overcome the drawbacks, we employ the arm transformation matrix of the inverse kinematics. Experimental results show a possibility that the proposed method could be used for making up the sign-language communication dictionaries.

• The Journal of Korean Physical Therapy
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• v.27 no.5
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• pp.304-310
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• 2015

Purpose: The purpose of this study was to examine the change in the kinematics and kinetics of the knee joint depending on high-heeled shoes during sit-to-stand (SitTS) task. Methods: Nineteen healthy females participated in this study. The subjects performed the SitTS task wearing high-heeled shoes and barefoot. The experiment was repeated three times for each task with foot conditions. The kinematics and kinetics of the knee joint were measured and analyzed using a 3D motion analysis system. Results: The result of this study showed kinematic and kinetics differences in knee joints during the SitTS task based on high-heeled shoes. Significant differences in knee flexion angle were observed during SitTS. The knee extensor force showed statistically significant differences during SitTS tasks. At the initial of SitTS, the knee flexor and extensor moment showed significant differences. The knee extensor moment showed statistically significant differences at the terminal of SitTS. At the maximum of SitTS, the knee extensor moment showed statistically significant differences. Conclusion: Therefore, wearing high-heeled shoes during SitTS movements in daily life is considered to influence knee joint kinematics and kinetics due to the HH, suggesting the possibility of increased risk of patellofemoral pain, and knee osteoarthritis caused by changes in loading of the knee joint.