• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.825-830
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• 2004

Kinematic calibration of Gough-Stewart platform using a new measurement device is presented in this paper. The device simultaneously measures components of position and orientation using commercially available gadgets. Additional kinematic parameters are defined to model the sources of inaccuracies for the proposed measurement device. Computer simulations reveal that all kinematic parameters of the Gough-Stewart platform and the additional kinematic parameters of the measurement device can be identified with the partial pose measurements of the device. Results also show that identification is robust for the initial errors and the noise in measurements. The device also facilitates the automation of easurement procedure.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.197-203
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• 2005

This paper presents kinematic calibration of parallel manipulators with partial pose measurements using a device that measures a rotation of the end-effector along with its position. The device contains an LVDT, a biaxial inclinometer, and a rotary sensor and facilitates automation of the measurement procedure. The device is designed in a modular fashion and links of different lengths can be used. The additional kinematic parameters required for the measurement device are discussed, kinematic relations are derived, and cost function is established to perform calibration with the proposed device. The study is performed for a six degree-of-freedom(DOF) fully parallel HexaSlide Mechanism(HSM). Experimental results show significant improvement in the accuracy of the HSM.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.05a
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• pp.621-628
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• 2000

A kinematic ball bar measuring system can analyze the various errors of a machine tool easil rapidly with only one measurement, But it cannot be used to measure the errors of the equipment the semiconductor manufacturing (e.g. chip mounter, PCB router etc.) not to use a cir interpolation. This paper presents the method to apply a kinematic ball bar measuring system tc machines which use merely a linear interpolation Also, the work of measuring and calibratir various errors of a chip mounter with a kinematic bal1 bar measurement system is accomplished

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.2
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• pp.168-172
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• 2001

The accuracy problem of robot manipulators has long been one of the principal concerns in robot design and control. A practical and economical way of enhancing the manipulator accuracy, without affecting its hardware, is kinematic calibration. In this paper an effective and practical method is presented for kinematic calibration of Stewart platforms. In our method differential errors in kinematical parameters are linearly related to differential errors in the platform pose, expressed through the forward kinematics. The algorithm is tested using simulated measurement in which measurement noise is included.

• Journal of Korean Society for Geospatial Information Science
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• v.10 no.2 s.20
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• pp.87-95
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• 2002

Real-time Kinematic GPS enables high accuracy Positioning by real time. If ambiguity use an integer solution, can obtain accuracy of several 'mm', and can obtain accuracy of tens 'em' if use real solution. In this study, We accomplish surveying by existent traditional surveying techniques (Total Station), Static GPS techniques and RTK-GPS techniques by Field Calibration about uniformity measuring point and then compared and ana1yzed each techniques positioning accuracy etc.. Result that achieve by Static-GPS in Plane area, about all measuring points, expressed error fewer than 3cm. Result that achieve RTK-GPS Surveying by Field Calibration in Plane area, could know that RTK-GPS techniques by Field Calibration is available in Plane area because expressing errors fewer than all 6cm, except case that do not get fixed solution of ambiguity Field Calibration RTK-GPS could know economically than existent conventional type measurement and existent GPS's measurement techniques that efficiency is very high.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.4
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• pp.64-71
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• 1997

Objective of calibration is to find out the accurate kinematic relationships between robot joint angles and the position of the end-effector by estimating accurate model parameters defining the kinematic function. Estimating the model parameters requires measurement of the end-effector position at a number of different robot configurations. This paper studies the implication of measurement configurations in robot calibration. For selecting appropriate measurement configurations in robot calibration, an index is defined to measure the observability of the model parameters with respect to a set of robot configurations. It is found that, as the observability index of the selected measurement configurations increase the attribution of the position errors to the parameter errors becomes dominant while the effects of the measurement and unmodeled errors are less significant; consequently better estimation of parameter errors is expected. To demonstrate the implication of the observability measure in robot calibration, computer simulations are performed and their results are discussed.

• Journal of International Academy of Physical Therapy Research
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• v.8 no.2
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• pp.1142-1145
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• 2017

The purpose of this study was to examine the effect of kinematic taping on respiratory muscle strength in smokers. Twenty - five university students who smoke were involved in the study. All participants were applied to kinematic taping to breathe deeply again. Subjects sit on their backs straight up and place their hands on their thighs. Tape 1 is applied from the lower prominent neck vertebrae(seven cervical vertebra) inward and downward, past shoulder blade, around ribs to the lower tip of sternum. Tape 2 extends to the lower, outer edge of shoulder blade, around ribs to the lower tip of sternum. Respiratory muscle strength was measured with Micro Mouth Pressure Measurement before and after taping. The application of kinematic taping significantly improved the inspiratory and expiratory muscle strength (p<.05). These findings suggest that kinematic taping effective in improving respiratory muscle strength and deep breathing.

• Journal of the Korean Society for Railway
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• v.18 no.5
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• pp.447-456
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• 2015

Continuous as well as discrete measurement of the track geometry based on a track trolley are investigated to enhance the efficiency of the trolley and to minimize the measurement errors. A new kinematic model based on the track coordinates involving transition and circular curves is developed to improve the accuracy of the measurement; a nonlinear Extended Kalman Filter (EKF) is employed to linearize the governing equations. The proposed model is verified with the ideal track geometry in terms of both discrete and continuous measurement. Comparison with the previous models is also made to prove the applicability of the kinematic model.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.7
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• pp.1632-1642
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• 1994

The Stewart Platform is a six-degree-of-freedom in-parallel-actuated manipiulator mechanism. The kinematic behavior of parallel mechanisms shows inverse characteristics as compared that of serial mechanisms; i.e, the inverse kinematic problem of Stewart Platform is straightforward, but no closed form solution of the forward kinematic problem has been previously presented. Thus it is difficult to calculate the 6 DOF displacement of the platform from the measured lengths of the six actuators in real time. Here, a real-time estimation algorithm which solves the Stewart Platform kinematic problem is proposed and tested through computer simulations and experiments. The proposed algorithm shows stable convergence characteristics, no estimation errors in steady state and good estimation performance with higher sampling rate. In experiments it is shown that the estimation result is the same as that of simulation even in the presence of measurement noise.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.415-419
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• 2000

Multi-degree-of-freedom (MDOF) displacement measurement Is needed In many application fields: precision machine control, precision assembly, vibration analysis, and so on. This paper presents a new MDOF displacement measurement method using a laser diode (LD), two position-sensitive detectors (PSDs), and a conventional diffraction grating. It utilizes typical features of a diffraction grating to obtain the information of MDOF displacement. MDOF displacement is calculated from the independent coordinate values of the diffracted ray spots on the PSDs. Forward and inverse kinematic problems were solved to compute the MDOF displacement of a rigid body. Experimental results show maximum absolute errors of less than ${\pm}10$ micrometers in translation and ${\pm}30$ arcsecs in rotation.