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신용우,최명수,하원석,장가람,이동혁,배지훈,박재한 제어로봇시스템학회 2021 제어로봇시스템학회 국내학술대회 논문집 Vol.2021 No.6
Redundant robot can perform auxiliary tasks using remaining degree of freedom except for that used for a main task through null space control. In order to perform auxiliary tasks, define objective function for tasks and project a gradient vector of objective function to null space. However, if the gradient vector of the objective function is too complicated to calculate analytically or the gradient vector is not defined by formula, the gradient vector cannot be obtained. To solve this problem, in this paper, the gradient vector is numerically estimated using response surface methodology. Input variables design method of the response surface methodology for estimation the gradient vector, a simplex design that has an advantage in computation time is applied. In order to confirm the performance of designed null space controller, we performed simulation on the manipulability measure. As a result of the simulation, it was confirmed that the controller which was performed null space control has higher manipulability measure than the controller which was not performed. Therefore, the proposed null space controller can perform various auxiliary tasks with high level of generality.
신용우 한국낙농육우협회 1997 낙농·육우 Vol.17 No.10
낙농진흥법에 의하여 설립되는 낙농진흥회는 이 법이 누가 누구를 위한 누구에 의한 법개정인지 다시한번 생각하여 수입개방에 대비한 우리나라 낙농업의 100년 대계의 바탕이 마련될 수 있도록 법 시행령과 시행규칙 마련에 온 심혈을 기울여 지혜를 모아야 하겠다.