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Minimum Infinity-norm Joint Velocity Solutions for Singularity-robust Inverse Kinematics
최희병,이석한,이지홍 한국정밀공학회 2011 International Journal of Precision Engineering and Vol.12 No.3
In this paper, a new method based on minimum infinity-norm joint velocity solutions for a redundant manipulator is proposed to lead it pass through singularities without excessive joint velocities. The infinity-norm is used to overcome the limitations of the minimum 2-norm solutions. In order to make a continuous transition from undamped phase to damped phase in the vicinity of a singular point and to avoid discontinuities in trajectory planning, a new mixing rate is adopted by using sigmoid function with Gaussian distribution. The effectiveness of our approach is compared with other methods in a redundant manipulator by simulation results.
Analytic Singularity Analysis of a 4-DOF Parallel Robot Based on Jacobian Deficiencies
최희병,Atsushi Konno,Masaru Uchiyama 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.2
In this paper, analytic singularity analysis of a 4-DOF parallel robot H4 is addressed. Since a parallel manipulator consisting of several serial chains has complex singularities in the workspace, the determination of singular configurations is very important in design, trajectory planning, and control. The classical method to determine singular configurations is to find the determinant of the Jacobian matrix. However, the Jacobian matrix of a parallel manipulator is complex in general and thus it is not easy to find the determinant of the Jacobian matrix. Therefore, we focus on the analytic singularity analysis of a 4-DOF parallel robot H4 using Jacobian deficiencies. A subset of the whole singularities and the intuitively predictable ones are only derived using Jacobian matrix deficiency. Three type sin-gularities, i.e., overmobility, undermobility and combined singularities, have been presented.
Closed-Form Forward Kinematics Solutions of a 4-DOF Parallel Robot
최희병,Masaru Uchiyama,Atsushi Konno 제어·로봇·시스템학회 2009 International Journal of Control, Automation, and Vol.7 No.5
It is well known that the forward kinematics of parallel robots is a very difficult problem. Closed-form forward kinematics solutions have been reported only to a few special classes of parallel robots. This paper presents closed-form forward kinematics solutions of a 4-DOF parallel robot H4. A 16th order polynomial in a single variable is derived to solve the forward kinematics of the H4. The 16 roots of the polynomial lead to at most 16 different forward kinematics solutions. A numerical verification is also presented.
모바일 경계로봇의 안정화 시스템 테스트를 위한 병렬로봇의 개발
김도현(Do Hyun Kim),권정주(Jeong Joo Kwon),김성수(Sung-Soo Kim),최희병(Hee-Byoung Choi),박성호(Sung Ho Park) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.11
A 6 D.O.F Stewart platform type parallel robot has been developed as a simulator to test the surveillance robot stabilization control. Since the surveillance robot is installed on the unmanned ground vehicle (UGV), it is required to have a stabilization control system to compensate the disturbance from the UGV. PID control scheme has been applied to the parallel robot to generate controlled motion following the input motion.
김자영(Jayoung Kim),권혁조(Hyokjo Kwon),김대현(Daehyun Kim),최희병(Heebyoung Choi),이지홍(Jihong Lee) 대한전기학회 2009 정보 및 제어 심포지엄 논문집 Vol.2009 No.5
In this paper a pendulum-driven type spherical mobile robot is introduced. Many researchers have been studied about a spherical mobile robot. we developed a pendulum-driven type spherical mobile robot and analyzed mechanism of pendulum motion. Mechanism of pendulum motion applied to the robot. Consequently, we could verify the motion of the robot as motion of pendulum.