http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Offset Wrist를 갖는 6자유도 협동로봇의 역기구학 해석
김기성 ( Gi-seong Kim ),김한성 ( Han-sung Kim ) 한국산업융합학회 2021 한국산업융합학회 논문집 Vol.24 No.6
In this paper, the numerical inverse kinematics analysis is presented for a collaborative robot with an offset wrist. Robot manipulators with offset wrist are widely used in industrial applications, due to many advantages over those with wrist center and those with three parallel axes such as simple mechanical design, light weight, and so on. There may not exist a closed-form solution for a robot manipulator with offset wrist. A simple numerical method is applied to solve the inverse kinematics with offset wrist. Singularity is analyzed using Jacobian matrix and the numerical inverse kinematics algorithm is implemented on the real-time controller.
김기성 ( Kim Gi Seong ),이용희 ( Lee Yong Hui ) 한국농촌계획학회 2003 농촌계획 Vol.9 No.1
This syudy investigated and analyzed the current status and operations of tourism farms in the Chuncheon area. By adopting the GIS, an analysis was made of whether the five old tourism farms utilized suitability and how they could open a new one in a suitability. The following results were drawn from the analysis of natural and social suitability factors and accessibility. Time requirements were analyzed taking into account that a majority of tourists came from Seoul and Gyeonggi area. Four of the five tourism farms were within one hour reavel, from these areas but it seemed impossible that they could be reached within one hour considering the actual road conditions and traffic. The natural and social suitability factors of a tourism farm were overlay-analyzed. The land of the first and second class that was considered to be suitable for a tourism farm was 17.12㎢, which accounted for 1.38% of the entire area examined in the study and 11.50% of the entire agricultural land. The area that was evaluated to be suitable for a tourism farm will be able to attract new tourism farms in the future.