기구학적 전이를 이용한 케이싱 오실레이터의 순기구학 해석

배형섭(Hyung Sub Bae),백재호(Jae Ho Baik),박명관(Myeong Kwan Park) Korean Society for Precision Engineering 2004 한국정밀공학회지 Vol.21 No.11

The Casing Oscillator is a bore file Equipment for the all-casing process. All-casing process is a method of foundation work in construction yard to oscillate steel Casing in the ground. The existing Casing Oscillator has some problem like not boring horizontally with disturbance and not driving Casing other angle except horizon. To solve problem, the new structure Casing Oscillator is presented and studied. The performance of Casing Oscillator is improved by kinematics analysis. The Casing Oscillator is similar to the parallel manipulator in structure. So we obtain Inverse kinematics solution of Casing Oscillator easily. But it is difficult to solve forward kinematics of Casing Oscillator. This paper presents a novel pose description corresponding to the structure characteristics of parallel manipulators. Through analysis on geometry theory, we obtain a new method of the closed-form solution to the forward kinematics using Kinematic Inversion. The closed-form solution contains two different meanings-analytical and real-time. So we reach the goal of practical application and control. Closed-form forward kinematics solution is verified by an inverse kinematics analysis. It shows that the method has a practical value for real-time control and inverse kinematics servo control.

풍동 CTS 시스템의 기구학/역기구학 해석

이도관(Do-Kwan Lee),이상정(Sang-Jeong Lee) 한국항공우주학회 2016 한국항공우주학회 학술발표회 논문집 Vol.2016 No.4

정기구학 및 역기구학을이용한하지 교정절골술 계획 생성

정지원(Jiwon Jeong),이승열(Seung Yeol Lee),윤기범(Kibeom Youn),박문석(Moon Seok Park),이제희(Jehee Lee) 한국컴퓨터그래픽스학회 2014 컴퓨터그래픽스학회논문지 Vol.20 No.1

뇌성마비에서 나타나는 하지 변형은 정상 보행 및 자세 유지에 어려움을 준다. 이를 교정하기 위해 임상의는 변형 정도를 측정하여 교정 절골술 계획을 수립하고 계획된 정도만큼 절골술을 시행한다. 그러나 절골술 시행 후 원래 계획보다 더 적거나 더 많이 교정되는 상황이나 의도치 않았던 변형이 발견되는 상황이 종종 발생한다. 이러한 문제 상황들이 발생하는 이유는 절골술 계획수립 시, 기존의 방법이 하지골의 정확한 형태학적 정보를 반영하기 어렵고 하지골을 절골하여 회전 시키는 정도에 따라 최종 결과가 어떻게 나오는지 사전에 예측하는 것이 쉽지 않으며 효과적인 교정 결과를 얻을 수 있는 절골술 방법, 회전각도 등 다양한 입력 조건의 최적 조합을 찾기가 어렵기 때문이다. 본 논문은 이를 해결하기 위해 컴퓨터 그래픽스 분야의 정기구학, 역기구학 및 최적화 기법을 하지 교정 절골술에 적용하여 임상의가 최적의 절골술 계획을 수립할 수 있도록 하는 방법을 제안한다. 하지 골의 3차원 메쉬 모델을 입력으로 받아 이를 분석하여 하지 특징점을 추출하고 임상지표를 자동으로 계산하여 변형 정도를 파악하는 방법, 하지 골을 대상으로 하는 5가지 교정 절골술의 시뮬레이션을 통해 그 결과를 사전에 예측할 수 있는 방법 그리고 비선형 최적화 문제로 변환하여 최적 교정 절골술 계획을 자동으로 수립하는 방법을 제안한다. 이를 통해 하지 골 교정 절골술과 관련된 거의 모든 경우의 수를 사전에 확인해 볼 수 있어서 종래의 방법보다 훨씬 쉽고 효율적으로 절골술을 계획하고 실행할 수 있을 것이다. Patients with cerebral palsy or arthritis have deformities in lower limb which cause unstable gait or posture and pains. Surgeons perform a deformity correction osteotomy with surgical plan. But sometimes they find the unexpected angular or rotational deformation after surgery. The problems are that there is no method to predict the result of a surgical plan and also there are so many factors to must consider in surgical planning step such as clinical measurements, rotation angle, wedge angle, morphology of lower limb, etc. This paper presents new methods for planning the deformity correction osteotomy efficiently. There are two approaches based on the 3D mesh model and the accurate assessment of the patient’s lower limb. One is the manual presimulation of surgery using forward kinematics. And the other is the automatic surgical planning using inverse kinematics and nonlinear optimization. Using these methods, we can predict and verify the results of various surgical treatments and also we can find a more effective surgical plan easily compared to conventional methods.

마이크로 부품 조립을 위한 평면 3-PRP 정렬기의 역기구학

이정재(Jeong-Jae Lee),유용환(Young-Hwan Yoo),이창우(Chang-Woo Lee),송준엽(Jun Yeob Song),이수훈(Soo-Hun Lee),홍민성(Min-Sung Hong),이문구(Moon G. Lee) 한국생산제조학회 2010 한국공작기계학회 추계학술대회논문집 Vol.2010 No.-

In the field of micro-factory, there are demanded on aligning micro-components when they assemble an automatic focusing actuator of camera module for cellular phone and mount a dental crown on artificial root. This paper presents inverse kinematics of three degree-of-freedom (DOF) planar parallel actuated manipulators for the alignment. The 3-PRP (Prismatic-Revolute-Prismatic) manipulator is actuated by the voice coil motors (VCMs). The actuators are arrayed 120° apart symmetrically on the horizontal plate. Numerical simulation of the kinematical motion of 3-PRP manipulator is performed by using inverse kinematics. Furthermore, based on these results, the working range of the manipulator is estimated before experiments. Also, this paper presents control algorithm to drive the manipulator. The control algorithm is using a feedback control based on the inverse kinematics, sensor kinematics and governing equation of VCM. The algorithm controls each VCM independently.

2개의 자유도를 가진 병렬 매니퓰레이터의 기구학 해석

이종규(Jong Gyu Lee),이상룡(Sang Ryong Lee),이춘영(Choon Young Lee),양승한(Seung Han Yang) Korean Society for Precision Engineering 2012 한국정밀공학회지 Vol.29 No.1

In this paper, a parallel manipulator is comprised of two sliders and four links. Sliders execute a linear reciprocating motion depending on parallel guides and make the connected links rotate. A couple of links connected by sliders do coupling motion. The end-effector called a link tip has orientation angle. Through the kinematics analysis of this manipulator, we found displacement, velocity and acceleration using direct and inverse kinematics. We used equations that derived from this analysis and determined five constraint conditions. These conditions had much to do with rotation states of links, the relative relation of link length and coupling motion state. To verify those, we suggest a new algorithm regarding constraint conditions of a manipulator. With the result which performed the algorithm, we found out that operation range of coupled links was limited by relative relation of link length and that manipulator was not able to carry out a series of link motion , in case of being the link vertical between two parallel guides.

나노위치제어를 이용한 연 X-선 결상현미경 시스템의 조명광학소자 정렬

김재희(Jea Hee Kim),김규겸(Kyu Gyeom Kim),민종환(Jong Hwan Min),김경우(Kyong Woo Kim),권영만(Young Man Kwon),민진영(Jin Young Min),윤권하(Kwon Ha Yoon) 대한기계학회 2005 대한기계학회 춘추학술대회 Vol.2005 No.5

This paper presents a method of alignment for condenser mirror of soft x-ray microscopy system based on nano-positioning control. The X-ray source was focused on a sample by a doubled ellipsoidal condenser reflective mirror. X-ray source focusing will increase the photon density in the object plane and is very important to approach high resolution imaging. Required degree of freedom (DOF) of optics aligner in X-ray microscope is dependent on the kind of optics, but generally 5-DOF is needed. We used 5-axis manipulator that consists of three linear motions (X, Y and Z) and two tilting motions (Rx, Ry). A linear translation stage is adopted a kind of DC motor with a linear resolution 50nm and travel range of 5mm. The mechanism was controlled with PID controller augmented with closed feedback loop for precision control. A two axis tilt stage is employed a design resolution of 0.23μrad and tilt range of ±7deg. We have designed 5-axis manipulator for alignment of condenser mirror and developed to control algorithm by inverse kinematics. The performance of the proposed 5-DOF manipulator is evaluated by using a laser interferometer system with two plane mirror reflectors. The experimental results are depicted in this paper.

토마토 수확 로봇 매니퓰레이터 각 관절의 각변위 각속도 각가속도 해석

차은진 ( Eun-jin Cha ),황영배 ( Young-bae Hwang ),신창섭 ( Chang-seop Shin ) 한국농업기계학회 2021 한국농업기계학회 학술발표논문집 Vol.26 No.2

1차 산업인 농업에 첨단 로봇기술 적용은 농업의 노동력 부족 문제를 해결하는데 중요한 부분이다. 최근 수확 로봇의 실용화를 위한 연구가 활발히 진행 중이다. 수확 로봇은 매니퓰레이터의 안정된 작업과 효율화를 필요로 한다. 수확 로봇이 작물을 수확하기 위해서는 목표지점에 도달하기 위한 매니퓰레이터 관절의 회전각을 알아야 한다. 로봇의 관절의 회전각이 주어지고 직교좌표상의 end-effector 위치와 자세를 구하는 것은 정기구학이다. 반대로 end-effector의 직교좌표상의 위치와 자세가 주어지고 로봇의 관절의 회전각을 구하는 것이 역기구학이다. 속도 차원에서 역기구학은 자코비안의 역행렬을 통해 계산할 수 있다. 하지만 역기구학에서 기구학적 방정식은 비선형 방정식으로 해를 구하기 어렵고 해가 존재하지 않거나 여러 가지 해가 존재할 수 있다. 따라서 본 연구는 관절의 각변위, 각속도, 각가속도를 구하기 위해 동역학 프로그램인 RecurDyn을 사용했다. 동역학 프로그램을 이용한 역기구학은 end-effector의 현재 끝점과 t초 후에 놓일 위치 사이에 bushing force를 사용한다. 매니퓰레이터는 6자유도인 두산로봇 M0609 모델을 사용하였다. 6개의 관절에 각각 Revolute Joint를 사용하였고 온실의 작업 환경을 고려하여 플랫폼을 기준으로 가로 30cm 세로 50cm에 토마토를 대신하여 구를 위치시켰다. 그리고 매니퓰레이터의 말단부와 구에 bushing force를 생성하여 매니퓰레이터가 구에 도달하도록 했다. 매니퓰레이터가 목표지점에 도달했을 때 변화된 각 관절의 각변위, 각속도, 각가속도 값을 도출하였다. 또한, 추후에 로봇 시스템의 조작 능력을 평가하는 manipulability ellipsoid를 이용하여 특이점을 회피하는 연구를 진행할 것이다.

토마토 수확 로봇 팔에 대한 저크와 조작성 지수 분석

차은진(Eun-Jin Cha),신창섭(Chang-Seop Shin) 한국기계가공학회 2023 한국기계가공학회지 Vol.22 No.2

The application of advanced robot technology in agriculture is important for solving the shortage of agricultural workforce. Recently, the practical application of harvesting robots has been investigated actively. Harvesting robots require efficient manipulators that are operated stably. To harvest crops, harvesting robots must know the rotation angle of the manipulator joints to reach the target point. The position and posture of the robot on the orthogonal coordinates of the end-effector are provided, and the rotation angle of the robot’s joint is obtained via inverse kinematics. Additionally, the appropriate posture for harvesting crops and the working space that can be moved during harvesting must be determined. The operability index indicates the working space degree as a function of manipulability, through which an operability ellipsoid can be obtained. Thus, a revolution joint is used in this study for each of six joints of a robot, and balls measuring 30 cm wide and 50 cm long are placed on a platform while considering the working environment of a greenhouse. To determine the angular displacement, angular velocity, and angular acceleration of the joint, the bushing force obtained using the dynamic program RecurDyn is applied. In addition, MATLAB is used to generate manipulability measure and manipulability ellipsoids for evaluating the operability of the robot. The manipulator uses the Doosan Robot M0609 and Ufactory x-Arm6 models with six degrees of freedom. When the two manipulators reach the target point, the angular displacement, angular velocity, angular acceleration, and manipulability of each joint are derived.

7자유도 로봇(SSRMS)의 역기구학 해석

정용섭 金烏工科大學校 1998 論文集 Vol.19 No.-

A pseudo inverse algorithm has been used for a reverse kinematic analysis of redundant manipulators. In this paper an inverse kinematic analysis of 7 d.o.f. maniulator is presented without using a pesudo inverse matrix which reqiures heavy calculations and causes repeatability problem. A joint angle which includes a geometrical meaning is fixed after the angle is varied to accomplish an objective function. And then the remainning 6 joint angles are calculated by the inverse kinematic analysis. The fixed joint angle can be utilized to avoid a singularity configuration avoidance, an obstacle avoidance and a joint torfque minimization, etc. It shows that eight solution configurations exist for a fixed input joint angle and a given position and orientation of the manipulator.

재난대처 로봇의 매니퓰레이터 구현 및 7축 여유자유도 매니퓰레이터의 역기구학 해석

박지혁(Jihyuk Park),서형태(Hyung-Tae Seo),김준혁(Jun Hyeok Kim),이민재(Min Jae Lee),김경수(Kyung-soo Kim),김수현(Soohyun Kim) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11

It is necessary for robot arm generating spatial motion which is composed of more than 6 axes to cope with disaster on behalf of the people. This paper presents the 7 DOF robot arm which is realized by using both commercial 6 DOF robot arm (LWA-4P) and 1 DOF actuator (PRL+120). Position control method is used to operate the robot arm. For position control, generating smooth joint trajectory is necessary. Closed form solution of the inverse kinematics is analyzed to avoid the joint limits and singularity using the redundancy of a 7 DOF manipulator. The inverse kinematic solution has the advantages of being more exact with low computational cost compared with inverse kinematic solution using numerical method.