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저가형 마이크로프로세서를 위한 연산처리 확장 모션제어 알고리즘
문상찬(Sang-Chan Moon),김재준(Jae-Jun Kim),남규민(Kyu-Min Nam),김병수(Byoung-Soo Kim),이순걸(Soon-Geul Lee) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.12
For precise motion control, S-curve velocity profile is generally used but it has disadvantage of relatively long calculation time for floating-point arithmetics. In this paper, we present a new generating method for velocity profile to reduce delay time of profile generation so that it overcomes such disadvantage and enhances the efficiency of precise motion control. In this approach, the velocity profile is designed based on the gamma correction expression that is generally used in image processing to obtain a smoother movement without any critical jerk. The proposed velocity profile is designed to support both T-curve and S-curve velocity profile. It can generate precise profile by adding an offset to the velocity profile with decimals under floating point that are not counted during gamma correction arithmetic operation. As a result, the operation time is saved and the efficiency is improved. The proposed method is compared with the existing method that generates velocity profile using ring buffer on a 8-bit low-cost MCU. The result shows that the proposed method has no delay in generating driving profile with good accuracy of each cycle velocity. The significance of the proposed method lies in reduction of the operation time without degrading the motion accuracy. Generated driving signal also shows to verify effectiveness of the proposed method.
족저압 측정시스템의 개발 및 보행 상태에 따른 족저압 신호 특성 분석
이채혁,문상찬,임태균,이순걸 제어로봇시스템학회 2011 제어로봇시스템학회 국내학술대회 논문집 Vol.2011 No.5
Many factors affect biomechanics of lower limbs during walking, including the gate state and the according pressure distribution of feet. But such relationship between the pressure distribution and the gate status has not been taken into account so in detail to analyze lower-limb kinematics and kinetics during walking. In this research, a sensor system with force sensing resistors (FSR) is developed to measure plantar pressure of feet. Several target points of plantar are decided as characteristic ones with pilot tests. The pattern matching between the pressure distribution and the lower-limb kinematics is investigated. Such the hypothetical pattern match shows good characteristical signal pattern along the gate sequence and it can be estimated the gate status with the measured signals.