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Five-Roll CTS 시스템 역기구학 해석을 위한 수정된 LM 기법
이도관,이상정 한국생산제조학회 2017 한국생산제조학회지 Vol.26 No.6
A captive trajectory simulation (CTS) system is an experimental equipment in order to investigate the separation behavior of the store model by moving the model to an arbitrary pose and position based on aerodynamic data. Because of the complex structures, the Five-Roll CTS system does not have a closed form solution and requires inverse kinematics analysis using numerical operation. In this study, kinematic analysis using D-H representation and inverse kinematic analysis using numerical iteration for the Five-Roll CTS system are performed, and the numerical inverse kinematic analysis based on LM method is especially proposed. The proposed method has the advantage of solving inverse kinematic problems even in infeasible or singular cases. Comparison tests show that the proposed method has robustness and better convergence performance. The suggested method can be used effectively in CTS trajectory mode which needs real time trajectory generation.