Soonwoong Hwang

The application of the Grey-based Taguchi method to optimize the global performances of the robot manipulator

This paper presents the procedure and the results of the multi-objective optimization of the design of a seven degrees of freedom (7DOF) robot manipulator for better global performance, which pertains to the global conditioning, global manipulability, and structural length indices. The Taguchi method was used to reduce the time needed to analyze the global performance of the robot manipulator. Grey relational analysis was performed to deal with the multiple performances of the manipulator by converting multiple responses into a single response with a Grey relational grade. Analysis of variance (ANOVA) was done to analyze the effect of the link parameters on the performance of the robot manipulator, and to determine which link parameter affects the performance of the robot manipulator. The results of the optimization of the prototype robot manipulator and the comparison of the optimization results with those of an earlier study are presented herein.

Design Optimization Method of Inertial Parameters of Serial Manipulators for Improving the Energy Efficiency

This paper presents a design methodology for improving the energy efficiency by considering the inertial properties of serial manipulators. This method employed is to put the inertia matrix, which has a critical effect on the equation of motion, into the constraints of the optimization problem. Through the optimization process, we propose a design algorithm that can double-check whether the optimized parameters satisfy the required performance or not by using an auxiliary index associated with the inertia and energy. Using this design algorithm, we were able to improve the energy efficiency by minimizing the torque. We applied this method to a 3 degrees of freedom serial manipulator and simulated it.

Trajectory Planning for Torque Minimization of Robot Manipulators Using the Lagrange Interpolation Method

Abstract This paper proposes an algorithm using Lagrange interpolation method to realize trajectory planning for torque minimization of robot manipulators. For the algorithm, position constraints of robot manipulators should be given and the stability of robot manipulators should be satisfied. In order to avoid Runge’s phenomenon, we set up time interpolation points using Chebyshev interpolation points. After that, we found suitable angle which correspondsto the points and then we got trajectories of joints angle, velocity, acceleration using Lagrange interpolation method. We selected performance index for torque consumption optimization of robot manipulator. The method went through repetitive computation process to have minimum value of the performance index by calculated trajectory. Throughthe process, we could get optimized trajectory to minimize torque and performance index and guarantee safety of the motion for manipulator performance. Key Words : Iterative method, Lagrange interpolation method, Performance index, Trajectory planning, Torque minimization

Motion Planning of Building Maintenance Robot System for Reducing Jerk Effect

Maintenance works for current high-rise buildings significantly depend on human labor, unlike other construction processes that are gradually being automated. Herein, this paper proposes robotic building maintenance system using motion control, in specific, reducing a system jerk which is directly subjected to improve the process performance and economic feasibility. The sensor for detecting straight and curvature section of the building facade, moreover rail-joint segment can be detected and be utilized for reducing jerk of the system. Analysis of the proposed system error caused by excessive vibration, e.g. jerk motion is introduced. To enhance the stability and safety of the system, herein, the strategy is proposed for enhancing the performance of the system based on anti-jerk motion control algorithm which comes out increasing the stability and sustainability of the integrated system, as well.

A Study on the Distinction of Landmine Detection Using 6 Step Creativity of the TRIZ

Landmines are a humanitarian challenge because they indiscriminately kill and maim civilians. Landmines are weapons that cannot distinguish between a soldier and a civilian, and they remain active for decades. As a result, most of the victims of mines are innocent men, women and children. For this purpose, new technologies such as a methode of landmine detection and mobile robots are needed. Our effort is to develop a small mobile robot for landmine detection, to detect landmine and to explore the landmine distinguishable method. In this paper, Specifically we detected landmines using electromagnetic sensors and distinguished metals from M14 antipersonnel mines under the ground using 6 step creativity of the TRIZ. Therefore, we proposed new method of landmine detection using the TRIZ.

Design Optimization of the Robot Manipulator Based on Global Performance Indices Using the Grey-based Taguchi Method

Abstract This paper presents the procedure and the results of the multi-objective optimization for designing a seven-degree-of-freedom (7DOF) robot manipulator that has higher global performance, which pertains to the global conditioning and structural length indices. The Taguchi method was used to reduce the time for analyzing the global performance of the robot manipulator. Grey relational analysis was done to deal with the multiple performances of the manipulator by converting multiple responses into a single response with a Grey relational grade. Analysis of variance (ANOVA) was done to analyze the effect of the link parameters on the performance of the robot manipulator, and to find which link parameter affects the performance of the robot manipulator. The results of the optimization of the prototype robot manipulator are presented herein.