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머신 비전 시스템 및 반사형 마커 기반의 평면형 과구동 병렬기구 보정을 위한 재귀 보정 방법
유지원(Jiwon Yu),정형진(Hyungjin Jeong),이동훈(Donghun Lee) 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.11
In the case of parallel kinematic mechanism (PKM), it is challenging to successfully identify the initial positions of all active joints with respect to the kinematic reference frame and kinematic error parameters due to its own mutually constrained and closed structural features. In this study, the reflective markers and a single down-looking machine vision camera are used to simultaneously perform the homing process to initially identify the angular positions of all active joints with respect to the reference frame and kinematic calibration to identify all parametric errors. First, the initial active joints’ positions with respect to the reference frame are identified with significant indexing errors through the nominal kinematic model and the pose of the reflective marker set mounted at the end-effector measured by the machine vision camera. And then, the kinematic calibration is consecutively performed to minimize the difference between the joint displacements measured by the joint encoders and calculated by the nominal kinematics with the least-square scheme. After the 1<SUP>st</SUP> round kinematic calibration, the calibrated kinematic model is used to find the more accurate active joints’ positions, and this recursive process can be repeated until static equilibrium control is possible under the redundant control. This paper describes the theoretical model and experimental method of the recursive kinematic calibration method for 3-DOF planar PKM.
염송심 ( Lian Songxin ),유지원 ( Yu Jiwon ) 수선사학회 2020 史林 Vol.0 No.71
The Japanese war criminal trials after WWII in China were conducted seperately by the goverments of the Republic of China and the People's Republic of China. These are part of the trials conducted by the anti-fascist alliance countries against Class B and Class C war criminals from the fascist countries. These are also independent trials of justice against foreign aggressors conducted by China as a sovereign state after modern times. In spite of the differences in the two governments' political purpose, the period of history and their trial objects, both were humane and pacifistic trials based on international laws and domestic situations.However, without the offenders' introspection and apologies, it's impossible to reach real historical reconciliation only with the victims' unilateral tolerance.