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모듈라 로봇의 모듈 결합에 따른 DH파라메터 생성 방법에 대한 연구
최준석(Junsuk Choi),박영훈(Younghun Park),박동일(Dong-il Park),임성수(Sungsoo Rhim) 대한기계학회 2017 대한기계학회 춘추학술대회 Vol.2017 No.11
This paper proposes a DH parameter generation method based on the different configurations of general modular robots. Modular robots consist of component modules, and robots with different kinematics can be constructed depending on how the modules are connected. Factors that influence the building of modular robots of various forms are presented. A method of classifying kinematically different cases by grouping robots with different forms but same kinematics is proposed. In the robotics field, DH parameters are usually used to express the kinematics. This report presents ‘partial DH parameters’ that follow the DH protocol with regard to the spatial relationship between two axes, which is the minimum expression needed to express various kinematic conditions. Furthermore, the generation of DH parameters through partial DH coupling is explained.
모듈라 6 자유도 매니퓰레이터 구성 시 작업영역 추정에 대한 연구
최준석(Junsuk Choi),박동일(Dong-il Park),임성수(Sungsoo Rhim) 대한기계학회 2016 대한기계학회 춘추학술대회 Vol.2016 No.12
This paper present how to estimate the operational workspace of a modular 6-DOF manipulator assembly. The operational workspace consists of two kinds of workspaces. One is the dexterous workspace, which is the volume where every point inside can be reached by the end-effector of the manipulator in any desired orientation. Another is the invertible workspace, which is the volume where every point inside is non-singular. A numerical method to estimate these workspaces for a 6 DOF modular manipulator assembly has been demonstrated in the paper. Also using the workspace concepts forementioned, a Usefulness Index for workspace is defined, with which we can evaluate how much effective the workspace volume that is created by the assembly of the modular 6-DOF manipulator is in terms of kinematics.
6자유도 모듈라 매니퓰레이터의 구조선정 효율화를 위한 작업영역 기반 알고리즘
박영훈(Younghun Park),최준석(Junsuk Choi),임성수(Sungsoo Rhim),박동일(Dong-il Park) 대한기계학회 2017 대한기계학회 춘추학술대회 Vol.2017 No.11
In this paper, we propose a method to efficiently select module combinations of 6 DOF modular manipulator. In order for a robot to follow a given work trajectory, the solution of the inverse kinematics must be obtained through numerous iterative calculations using numerical solutions. It takes a lot of time to apply these iterative calculations to various module combinations. Excluding module combinations that are unlikely to satisfy the given task before entering a numerical iteration process can save lot of time. For this purpose, two types of workspaces a reachable workspace (considering only the position of the end of the modular manipulator) and a dexterous workspace (considering the position and direction) are used filter out some incompetent module combinations using the mathematical criteria per each workspace. Finally, this algorithm was applied to the program that selects the optimal module combination to verify the time efficiency.
인간-로봇 충돌 안전성 평가를 위한 돼지 피부 충돌 실험 결과의 의학적 분석
한도연(Doyeon Han),박문영(Moon Young Park),최준석(Junsuk Choi),윤태준(Taejoon Yoon),임성수(Sungsoo Rhim) 대한기계학회 2017 대한기계학회 춘추학술대회 Vol.2017 No.11
Over the past few years, the robot industry has evolved rapidly and collaboration between the industrial robot and human has increased. From this point of view, many studies about robot safety index have been conducted recently. And most of those studies, only single factor among many important ones was dealt with per paper as an index of safety. But single quantity cannot capture the complex behavior of human body parts. In this paper, macroscopic and microscopic observation and injury classification with medical-oriented analysis are considered as safety criteria. Microscopic observation is conducted by microscope with hematoxylin and eosin stained tissue specimen and those results are analyzed with newly developed injury classification. Indexing is derived from the data of pig skin impact experiment where we focused on the effect of the impact (or collision) velocity, the impactor (a model of the robot which would collide with the human) mass and the impactor fillet radius. Consequently, the limitations of velocity depending on the impact conditions are presented.