Çѱ¹·Îº¿ÇÐȸ ´º½º·¹ÅÍ 3¿ùÈ£ [ 2020. Vol. 1 ]

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Çѱ¹·Îº¿ÇÐȸ ´º½º·¹ÅÍ 3¿ùÈ£ [ 2020. Vol. 1 ] |
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¾È³çÇϽʴϱî? 2020³â´ë 10³âÀ» ½ÃÀÛÇÏ´Â °æÀڳ⠻õÇØÀÔ´Ï´Ù. Ç×»ó °Ç°ÇÏ°í ½Â¸®ÇÏ´Â, Ãູ°ú ±â»ÝÀÌ °¡µæÇÑ ÇÑ ÇØ°¡ µÇ½Ã±æ ±â¿øÇÕ´Ï´Ù.
2003³â Ãâ¹üÇÑ ÈÄ ´ëÇѹα¹ÀÇ ·Îº¿À» ´ëÇ¥ÇÏ´Â ÇÐȸ·Î ¼ºÀåÇÑ ¸ð½ÀÀ» ¸ÂÀÌÇϸé¼, ±×µ¿¾ÈÀÇ ÀüÀÓ È¸Àå´Ô°ú ȸÀå´Ü, ÀÓ¿øÁø ¹× ȸ¿ø ºÐµéÀÇ ¿Á¤°ú ³ë°í¿¡ ¸Ó¸®¸¦ ¼÷ÀÌ°Ô µË´Ï´Ù. µ¿½Ã¿¡, ÀÌ·¯ÇÑ Ä¿´Ù¶õ ÀÚ»ê°ú ÀںνÉÀ» ±â¹ÝÀ¸·Î ÇÐȸÀÇ ¹ßÀü¿¡ ¹Ì·ÂÇϳª¸¶ µµ¿òÀÌ µÇ¾î¾ß°Ú´Ù´Â Å« Ã¥ÀÓ°¨À» ´À³§´Ï´Ù.
»õÇØ¸¦ ¡®2020³â´ë 10³âÀ» ÁغñÇÏ´Â ÇØ¡¯·Î ¼³Á¤Çϰí, Çѱ¹·Îº¿ÇÐȸ°¡ ±¹Á¦ÀûÀÎ ¼öÁØÀÇ Çмú Ȱµ¿°ú Áñ°Å¿î ±³·ùÀÇ ÀåÀ¸·Î º¸´Ù ¼ºÀåÇÒ ¼ö ÀÖµµ·Ï, ü°èÀûÀΠȸ¿ø ¼ºñ½º ¹× Åõ¸íÇÑ ÇàÁ¤ ½Ã½ºÅÛ, ¼ö¿ä ¹ß±¼Çü »êÇп¬ ±³·ù ¹× Çù·Â ±â¹Ý, ±¹Á¦È ¿ª·® µîÀ» °È, ¹ßÀü½Ã۱â À§ÇÑ °èȹÀ» ¼ö¸³Çϰí ù¹ßÀ» ¶¿ ¼ö ÀÖµµ·Ï ³ë·ÂÇϰíÀÚ ÇÕ´Ï´Ù.
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< º´·Ä·Îº¿ ¿¬±¸ µ¿Çâ > ÇѾç´ëÇб³ À̺´ÁÖ ±³¼ö
- º´·Ä·Îº¿ °ü·Ã ÃâÆÇ¹°
- °¡. 2000³â Á߹ݱîÁö º´·Ä·Îº¿¿¬±¸¸¦ Áý´ë¼ºÇØ ³õÀº ´ëÇ¥Àû Àú¼ : J.P. Merlet, Parallel robots. Netherlands: Springer, 2006.
- ³ª. º´·Ä·Îº¿ ¸ðµ¨¸µ¿¡ À¯¿ëÇÑ Screw theory¸¦ ·Îº¿±â±¸Çп¡ ½±°Ô Àû¿ëÇÑ Àú¼ : J. Duffy, Statics and Kinematics with Applications to Robotics, Cambridge, Cambridge University Press, 1995.

- ´Ù. Screw theory¸¦ óÀ½ ¼Ò°³ÇÑ °íÀü µµ¼: R.S. Ball, A Treatise on the Theory of Screws, Cambridge, Cambridge University Press, 1900.
- ¶ó. º´·Ä·Îº¿ ¸ðµ¨¸µÀ» ´Ù·é Àú¼ : L.W. Tsai, Robot Analysis : The mechanics of serial and parallel manipulators, Wiley-Interscience, 1999.
- ¸¶. Tutorial Book : 2019³â Çѱ¹·Îº¿ÇÐȸ ¿©¸§Çб³ (º´·Ä·Îº¿ ¿¬±¸ : À̺´ÁÖ, ±èÈñ±¹ ±³¼ö)
º´·Ä·Îº¿ ¿¬±¸ºÐ¾ß (³ª-¸¶ ºÎºÐ¿¡ ´ëÇÑ Á¤¸®ÀÚ·á Æ÷ÇÔ)
- º´·Ä·Îº¿ ¿¬±¸ºÐ¾ß
- °¡. Forward Kinematics (Á¤¹æÇâ±â±¸ÇÐ)
Multiple solutionÀ» Áö´Ï´Â Á¤¹æÇâ±â±¸ÇÐ : º´·Ä·Îº¿ÀÇ multiple forward position solutionÀ» ±¸ÇÏ´Â ¿¬±¸¿Í ´ÜÀÏ closed form forward position solutionÀ» Áö´Ï´Â º´·Ä·Îº¿À» ¼³°èÇÏ´Â ¿¬±¸·Î ³ª´¸.
- Closed form forward position solutionÀ» Áö´Ï´Â º´·Ä·Îº¿À» ¼³°èÇÏ´Â ¿¬±¸
W.K. Kim, Y.K. Byun, and H.S. Cho, ¡°Closed-Form Forward-Position Solution for a 6-DOF 3-PPSP Parallel Mechanism and Its Implementation,¡± Int. Journal of Robotics Research, v. 20, no. 1, pp. 85 – 99, 2001. 
-º´·Ä·Îº¿ÀÇ multiple forward position solutionÀ» ±¸ÇÏ´Â ¿¬±¸
J.P. Merlet, Solving the Forward Kinematics of a Gough-Type Parallel Manipulator with Interval Analysis, Int. Journal of Robotics Research, vol. 23, pp. 221-216, 2004. 
J.P. Merlet, Direct kinematics of planar parallel manipulator. In Proc. IEEE Int. Conf. on Robotics and Automation, pp. 3744-3750, 1996. 
S.-K. Song and D.S. Kwon, A tetrahedron approach for a unique closed-form solution of the forward kinematics of six-DOF parallel mechanisms with multiconnected joints, Journal of Robotic Systems, vol. 19, no. 6, pp. 269-282, 2002.
- ³ª. Mobility Analysis : º´·Ä·Îº¿ÀÌ »ý¼º°¡´ÉÇÑ ÀÚÀ¯µµ ¹× ¸î °³ÀÇ ¸ðÅ͸¦ ÀåÂøÇØ¾ß Çϴ°¡¸¦ ÇØ¼®ÇÏ´Â ¿¬±¸
-°íÀüÀûÀÎ ¸ðºô¸®Æ¼ °³³ä ¼Ò°³ : K.H. Hunt, Kinematic Geometry of Mechanisms, Clarendon Press, Oxford, 1978.
-Overconstrained mechanismÀÇ °æ¿ìµµ Æ÷ÇÔÇÏ´Â ÀϹÝÀûÀÎ º´·Ä ·Îº¿¿¡ ´ëÇÑ ¸ðºô¸®Æ¼ ÇØ¼®À» ´Ù·é ³í¹® : J.S. Dai, Z. Hunag, and H. Lipkin, Mobility of overconstrained parallel mechanisms, ASME Trans. on Mechanical Design, vol. 128, Jan. 2006. 
-Q.C. Li and Z. Huang, Mobility analysis of a novel 3-5R parallel mechanism family, ASME Trans. on Mechanical Design, vol. 126, pp. 79-82, 2004.
- ´Ù. Kinematic and Dynamic Modeling : Jacobian, Inverse dynamics µî¿¡ ´ëÇÑ ¿¬±¸¸¦ ´Ù·é ³í¹®
-º´·Ä ·Îº¿ Kinematic Modeling¿¡ ´ëÇÑ ´Ù¾çÇÑ ¿¹Á¦¸¦ Á¦°øÇÏ´Â ³í¹® : L.W. Tsai, Robot Analysis : The mechanics of serial and parallel manipulators, Wiley-Interscience, 1999. Section 5.6 (pp. 247~258)
-Kinematic and force redundancy¸¦ Æ÷ÇÔÇÑ º´·Ä·Îº¿¿¡ ´ëÇÑ °¡Àå ¿Ï¼ºµÈ ¸ðµ¨¸µ ¹æ½ÄÀ» Á¦¾ÈÇÑ ³í¹® : : L. Kang, W.K Kim, and B.-J. Yi, Modeling and analysis of parallel mechanisms with both kinematic and redundancies Via Screw Theory, ASME Trans. on Mechanisms and Robotics, vol. 9, no. 6, 2017.
- ¶ó. Mechanism Synthesis : 3, 4, 5, 6 ÀÚÀ¯µµ µî ´Ù¾çÇÑ ÀÚÀ¯µµ¸¦ Áö´Ï´Â º´·Ä·Îº¿ ÇÕ¼º ¿¬±¸
-Lie groups of displacements synthesis and constraint-synthesis : Group theory¸¦ Àû¿ëÇÑ ³í¹®
Q. Li, Z. Huang, and J.M. Herve, Type synthesis of 3R2T 5-DOF parallel mechanisms using the Lie Group of displacements, IEEE Trans. on Robotics and Automation, vol. 20, no. 2, pp. 173-180, 2004. 
-Constraint-synthesis method : MechanismÀÇ constraint¸¦ ±â¹ÝÀ¸·Î ÇÏ´Â ¹æ¹ý·ÐÀ» ´Ù·é ³í¹®
Y. Fang and L.W. Tsai, Structure synthesis of a class of 4-DOF and 5-DOF parallel manipulators with identical limb structures, The Int. Journal of Robotics Research, vol. 21, no. 9, pp. 799-810, 2002. 
Z. Huang and Q.C. Li, Type synthesis of symmetrical lower-mobility parallel mechanisms using the Constraint-synthesis Method, The Int. Journal of Robotics Research, vol. 22, no. 1, pp. 59-79, 2003.
X.W. Kong, and C.M. Gosselin, Type synthesis of parallel mechanisms. 33. Springer-Verlag, Berlin, Germany 2007.
B.-J. Yi and W.K. Kim, Task-Oriented Type Synthesis of the Lower-mobility Parallel Mechanisms With a Common Platform,” Journal of Mechanical Science and Technology, vol. 32, no. 11, pp. 5373-5387, 2018.
- ¸¶. Singularity analysis : Architectural singularity, parallel singularity, serial singularity, constraint singularity·Î ±¸ºÐµÇ´Â ƯÀÌÁ¡ ÇØ¼®À» ´Ù·ç´Â ¿¬±¸ºÐ¾ß
-Architecture ¼³°è ÀÚü¿¡¼ ¹ß»ýÇÏ´Â singularity¸¦ ÃÖÃÊ·Î ¼Ò°³ÇÏ´Â ³í¹®
O. Ma and J. Angeles, Architecture singularities of parallel manipulators, IEEE Trans. on Robotics and Automation, vol. 7, no. 1, pp. 23-29, 1992. 
-Parallel singularity¿Í serial singularity¸¦ ÃÖÃÊ·Î ¼Ò°³ÇÏ´Â ³í¹®
C. Gossselin and J. Angeles, Singularity analysis of closed-loop kinematics chains, IEEE Trans. on Robotics and Automation, vol. 6, no. 3, pp. 281-290, 1991. 
-Mechanism constraintÀÇ rank¿¡ deficiency°¡ ¹ß»ýÇÑ °æ¿ì¸¦ ´Ù·ç´Â ³í¹®
D. Zlatanov, I.A. Bonev, and C.M. Gosselin, Constraint Singularities of Parallel Mechanisms, In Proc. IEEE Int¡¯l Conf. on Robotics and Automations, pp. 496-502, 2002. 
-Grassmann Line Geometry¸¦ Ȱ¿ëÇÏ¿© singularity¸¦ 1-6±îÁöÀÇ screw systemÀÇ °³³äÀ¸·Î ÇØ¼®ÇÑ ³í¹®
F. Hao and J.M. McCarthy, Conditions for line-based singularities in spatial platform manipulators, Journal of Robotics Systems, vol. 15, no. 1, pp. 43-55. 1998.
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< ÇÐȸ ÁÖ°ü ¹× ÈÄ¿ø ÇмúÇà»ç >
- Á¦15ȸ Çѱ¹·Îº¿Á¾ÇÕÇмú´ëȸ (KRoC 2020), 2020³â 8¿ù 17ÀÏ(¿ù)~19ÀÏ(¼ö), °¿øµµ Èִнº Æòâ
- ³í¹®/RED Show ½Å±ÔÁ¦Ãâ, ¼öÁ¤, öȸ ±â°£: ~2020³â 6¿ù 1ÀÏ(¿ù)
- ³í¹®/RED Show ¼±Á¤ °øÁö: 2020³â 6¿ù 15ÀÏ(¿ù)
- Ubiquitous Robots 2020 (UR 2020), 2020³â 6¿ù 22ÀÏ(¿ù)~26ÀÏ(±Ý), ÀϺ» ±³Åä
- Paper Acceptance Notification: 2020³â 4¿ù 4ÀÏ(Åä)
- Final Paper Submission: 2020³â 5¿ù 1ÀÏ(±Ý)
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- - IROS 2020 Workshop Á¦¾È¼ Á¦Ãâ
1) 1st Advanced Marine Robotics TC Workshop: Active Perception
2) Organizer: Francesco Maurelli, Alberto Quattrini Li, Corina Barbalata, Arturo Gomez Chavez, ÃÖÇöÅÃ
3) Supporting Letter: IEEE TC (Marine Robotics)
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- - ROMAN 2020 Workshop Á¦¾È¼ Á¦Ãâ
1) Social Human-Robot Interaction of Human-care Service Robots
2) Organizer: ¾ÈÈ£¼®, Àå¹Î¼ö, ÃÖÁ¾¼®, ÀÓÀ±¼·
3) Supporting Letter: À¯¹üÀç ȸÀå
- IROS 2020 Workshop Áغñ Áß
1) Social AI for Human-Robot Interaction of Human-care Service Robots
2) Organizer: ¾ÈÈ£¼®, Àå¹Î¼ö, ÃÖÁ¾¼®, ¹®ÇüÇÊ
3) Supporting Letter: IEEE TC (RHGM, HRI)
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ȸ¿ø ºÐµéÀÇ ¿¬±¸¿¡ µµ¿òÀ» µå¸®°íÀÚ ÃÖ±Ù 2³â°£ ¹ß°£µÈ ³í¹®Áö¿Í ¿µ¹®Áö¿¡ ½Ç¸° ¸ðµç ³í¹®µéÀ» ¿¢¼¿ ÆÄÀÏ·Î Á¤¸®ÇÏ¿´½À´Ï´Ù.
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»ç´Ü¹ýÀÎ Çѱ¹·Îº¿ÇÐȸ (Korea Robotic Society)
(¿ì)06130, ¼¿ïƯº°½Ã °³²±¸ Å×Çì¶õ·Î 7±æ 22 (¿ª»ïµ¿ 635-4) Çѱ¹°úÇбâ¼úȸ°ü ½Å°ü 506È£ (»ç)Çѱ¹·Îº¿ÇÐȸ »ç¹«±¹
Tel. 02-783-0305~6, Fax. 02-783-0307, Email. kros@kros.org . »ç¾÷ÀÚµî·Ï¹øÈ£ : 214-82-07990, ´ëÇ¥ÀÚ : À¯¹üÀç
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