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제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, v.20 no.3, 2014년, pp.333 - 344
염영일 (울산과학기술대학교 기계 및 신소재 공학부)
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This is the survey paper on the role of kinematics in robot development. The robot is considered as a form of mechanical systems which includes closed-chain loop system, open-chain loop system and closed and open switching system. To analyze these systems, kinematic notations has been developed in k...
| 핵심어 | 질문 | 논문에서 추출한 답변 |
|---|---|---|
| 기구학의 명칭은 어디에서 유래되었는가? | 그러나 당시에는 로봇이란 용어보다는 보편적으로 알려졌던 정밀기기나 기구 (mechanisms)로 불리워졌고 처음에는 장인들 손에 의해 시행착오를 거치면서 만들어졌지만 이는 곧 기구학이란 이론적 학문을 탄생시켰다. 기구학(kinematics)은 그리스어 (kinimatiki)의 운동이란 의미에서 유래가 됬으며 역학(mechanics)의 한분야로 프랑스 물리학자 암페어(A.M Ampare)가 처음으로 사용하기 시작하였다. 현대적 기구학의 시작은 Franz Reuleaux(1875)에 의해서이며 그의 저서[26]에서 링크나 기계요소간 관절대우(pair), 체인(chain), 그리고 이들 기구에 대한 표기법등을 제시하였다. | |
| ZMP 보행이론의 문제점을 극복하기 위해 어떤 이론이 등장했는가? | ZMP 보행이론은 아시모와 휴보처럼 보행뿐만 아니라 계단을 오르내리고 방향전환 등이 가능한 완성도가 높은 로봇을 개발하는데 큰 공헌을 하였으나 반면에 이와 같은 방법으로 걷기 위해서는 매 순간마다 ZMP를 지지다각형 안에 머무르게 하기 위한 제어입력이 필요하고 결과적으로 많은 양의 에너지를 소모하게 된다. 이러한 문제점을 극복 하기 위해 동역학적 수동보행(passive dynamic walking)이란 새로운 보행이론이 등장했다. | |
| ZMP는 무엇을 가리키는가? | 세르비아(구 유고슬라비아)의 생체역학 및 로봇공학자인 Miomir Vukobratovic가 1968년에 발표한 ZMP (Zero Moment Point) [34,35] 개념을 발표했다. ZMP 는 지면반력(ground reaction force)의 수평 모멘트 성분이 영(zero)이 되는 지점을 가리킨다. ZMP가 발바닥 또는 두 발이 이루는 지지다각형(support polygon) 내에 위치하면 ZMP에서의 힘과 모멘트의 합력은 평형상태(quasi-static equilibrium state)가 되고 발의 회전(foot rotation)이 일어나지 않아서 로봇은 쓰러지지 않는다. |
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