KR101299218B1

KR101299218B1 - Method for horse motion editor of four degree of freedom

Info

Publication number: KR101299218B1
Application number: KR1020100139497A
Authority: KR
Inventors: 전세웅
Original assignee: 전자부품연구원
Priority date: 2010-12-30
Filing date: 2010-12-30
Publication date: 2013-08-26
Also published as: KR20120077518A

Abstract

A motion editor method for a horse robot is disclosed. According to this method, a first motor for forming acceleration or deceleration when the horse saddle moves back and forth in the form of a slide and expanding the overall working space, a second motor related to the inclination of the saddle, and for adjusting the height of the saddle The third motor and the saddle calculate a position of each of the fourth motors for generating a horse motion in a circle. The saddle position and the saddle angle of the saddle relative to the ground surface are calculated using the calculated position. Then, the motion coordinates of the horse robot are output by applying the position and the inclination angle of the saddle.

Description

METHOD FOR HORSE MOTION EDITOR OF FOUR DEGREE OF FREEDOM}

The present invention relates to a motion editor method for a four degree of freedom robot, and more particularly, to a motion editor method for effectively generating a four degree of freedom robot motion.

In order to generate horse movement without the horse robot's Horse Motion Editor, the skill of the person making the horse movement is the most important.

That is, the conventional horse movement is obtained by experimenting with Foward one by one depending on the experience of the creator. Thus, only certain movements are acquired through experience.

Therefore, the effort of confirming the movement of the horse one by one depends on the experience of the person who generates the movement of the horse.

In addition, there is an inconvenience of having to experiment with each of the various movements of the horse.

In addition, it is not evaluated how the movement of the horse moves like the actual horse. In particular, the four degrees of freedom cannot solve the problem by inverse kinematic analysis alone due to various degrees of freedom, and the existing inverse kinematic analysis motion editor cannot solve this problem comprehensively.

The problem to be solved by the present invention is to provide a motion editor method for a four degree of freedom robot applying the two degrees of freedom reverse mechanism analysis and two degrees of freedom forward analysis.

According to one aspect of the invention, there is provided a motion editor method for a four degree of freedom robot. The method comprises a first motor for forming acceleration or deceleration when the horse saddle moves back and forth in the form of a slide and for expanding the overall working space, a second motor related to the inclination of the saddle, and a first for adjusting the height of the saddle. Calculating a position of each of the third motor and the fourth motor in which the saddle is circularly generated to produce a horse motion; Calculating a saddle angle, which is a position of the saddle and an angle at which the saddle is inclined relative to the ground surface using the position; And outputting motion coordinates of the horse robot using the saddle position and the inclined angle.

According to an embodiment of the present invention, the actual movement trajectory of the horse is used so as not to deviate from this trajectory, and the use of this technology can conveniently design and operate the shape of the horse movement in many kinds.

1 shows a configuration of a horse robot according to an embodiment of the present invention.
Figure 2 shows the structure of a motion editor device for a four degree of freedom robot according to an embodiment of the present invention.
3 is an example of calculating coordinates of a first motor according to an embodiment of the present invention.
4 is an example of calculating coordinates of a third motor according to an embodiment of the present invention.
5 is an example of calculating coordinates of a fourth motor according to an embodiment of the present invention.
6 is an example of calculating intersection coordinates of circles 1 and 2 according to an embodiment of the present invention.
7 is an example for calculating the position of the saddle according to an embodiment of the present invention.
8 is an example of calculating the position of the saddle according to another embodiment of the present invention.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like parts throughout the specification.

Hereinafter, with reference to the drawings will be described in detail a motion editor method of a four-freedom robot according to an embodiment of the present invention.

1 shows a configuration of a horse robot according to an embodiment of the present invention.

Referring to FIG. 1, the horse robot 100 includes four motors 101, 103, 105, and 107.

Here, the first motor 101 forms a specific acceleration or deceleration form when the saddle moves back and forth with a slide, and serves to expand the overall working space.

The second motor 103 is used to bounce the horse motion up a hill or to generate a motion over a specific obstacle, and affects the inclination of the saddle.

The third motor 105 may adjust the height of the saddle when generating motion. In addition, it is possible to specify a predetermined range for the height of the saddle generated when the fourth motor 107 moves.

When the fourth motor 107 generates a motion, the saddle generates a motion in a circle.

Then, the motion editor device (not shown) is to drive the simulation of the four degree of freedom horse robot to determine the position of the saddle (X coordinate, Y coordinate, saddle angle) for input to the horse robot 100, Figure 2 It will be described with reference to FIG. 8.

Figure 2 shows the structure of a motion editor of a four degree free robot according to an embodiment of the present invention.

Referring to FIG. 2, when the motion editor device (not shown) knows the position values of the four motors 101, 103, 105, and 107 of the horse robot 100, the position of the saddle located at the center of L1 ( X coordinate, Y coordinate, saddle angle) is calculated.

Here, the position of the saddle (X coordinate, Y coordinate, saddle angle) is the center point of L1, consisting of the coordinates (X, Y) of the saddle obtained with respect to the center point of the slide and the slope of the saddle (θ _seat ).

At this time, the value of is a predetermined value (Given), it is a factor that affects the motion of the horse robot 100 of FIG.

Here, L1, L2, L3, L4, L5 refers to a link (Link) and is a structure that is dependent on the link in accordance with the movement of the four motors (101, 103, 105, 107) to change the position. These links are part of the mechanism for creating saddle position, speed, effects, and so on. Changing the structure of the link changes the area of the workspace and also affects the motion generation conditions when implementing the actual horse action.

H1, H2, and H3 are the heights, which are configured on the vertical axis and are fixed to each axis.

R1, R2, R3, and R4 are the abbreviations of Radius, which means the radius, in the rotor bound to four motors (101, 103, 105, 107) and four motors (101, 103, 105, 107). The distance from the link center point of the linking body to the rotor is shown.

That is, R1, R2, R3, and R4 operate in a circle with radius values of R1, R2, R3, and R4, respectively, based on the motor axis, and as the values of R1, R2, R3, and R4 increase, the size of all motions increases. You lose. In addition, as R1, R2, R3, and R4 increase, the load of the motors 101, 103, 105, and 107 increases, so that an appropriate size is used. Based on this, a value in consideration of the actual mechanism is applied to the motion editor.

In addition, (theta) 1 means the rotation angle which rotated when the 1st motor 101 rotates.

θ2 means the rotated rotation angle when the second motor 103 rotates.

θ3 means the rotated rotation angle when the third motor 105 rotates.

θ4 means the rotated rotation angle when the fourth motor 107 rotates.

Then, the coordinates of each of the first motor 101, the second motor 103, the third motor 105, and the fourth motor 107 will be described with reference to FIGS. 3 to 5.

3 illustrates an example of calculating coordinates of a first motor according to an exemplary embodiment of the present invention.

Referring to FIG. 3, the coordinates x ₁ and y ₁ of the first motor 101 represent the coordinates between the reference point The Origin and the rotation axis of the first motor 101, and are calculated through Equation 1 below. .

Here, R1 is a radius value based on the motor axis of the first motor 101, the same value as the first motor 101 of the horse robot 100, and is a fixed value.

At this time, the coordinates of the second motor 103 are the same as the coordinates (x ₁ , y ₁ ) of the first motor 101, and only θ 2 is different.

4 is an example of calculating coordinates of a third motor according to an embodiment of the present invention.

Referring to FIG. 4, the coordinates x ₂ and y ₂ of the third motor 103 represent the coordinates between the rotation axis of the third motor 105 from the center point and are calculated by the following Equation 2.

Here, LB is a link base and refers to the axis on which the link structure is based. Unlike the links (L1, L2, L3, L4, L5), it is an axis that is not moved and is bound to H2 and H3 and fixed to R2.

5 is an example of calculating coordinates of a fourth motor according to an embodiment of the present invention.

Referring to FIG. 5, the coordinates x ₃ and y ₃ of the fourth motor 107 represent the coordinates between the rotation axis of the fourth motor 107 from the center point, and are calculated by the following equation (3).

6 is an example of calculating intersection coordinates of circles 1 and 2 according to an embodiment of the present invention.

Referring to FIG. 6, the intersection points (x _i1 , y _i1 ) and (x _i2 , y _i2 ) of the circle 1 and the circle 2 have a radius L5 of the coordinates (x ₂ , y ₂ ) of the third motor 103. If we find the intersections (x _i1 , y _i1 ), (x _i2 , y _i2 ) of circle 1 and circle 2 with the radius L4 with the coordinates (x ₃ , y ₃ ) of the fourth motor 107 as the center point, Equation 4

Meanwhile, each saddle position (X coordinate, Y coordinate, saddle angle) having values of the intersection points (x _i1 , y _i1 ) and (x _i2 , y _i2 ) calculated through FIG. ) Is obtained as shown in FIGS. 7 and 8.

Here, the saddle coordinates are defined as Xseat and Yseat, and the slope of the saddle, that is, the saddle angle, is called θseat. In this case, the saddle angle θ seat means an angle at which the saddle is inclined relative to the ground surface.

7 is an example for calculating the position of the saddle according to an embodiment of the present invention.

Referring to FIG. 7, the first condition (

,

The position of the saddle (Xseat, Yseat, θ seat) according to) is calculated through Equation 5 and Equation 6.

8 is an example for calculating the position of the saddle according to another embodiment of the present invention.

Referring to FIG. 8, the second condition (

,

The position of the saddle (Xseat, Yseat, θseat) according to) is calculated through the equation (7) and (8).

As described above, if the user arbitrarily designates the positions (x, y, θ) of the four motors, the position of the saddle (X coordinate, Y coordinate, saddle angle) for generating the motion of various horse robots 100 can be calculated. Can be.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It belongs to the scope of right.

Claims

A first motor for forming acceleration or deceleration when the horse saddle moves back and forth in the form of a slide and extending the overall working space, a second motor related to the inclination of the saddle, a third motor for adjusting the height of the saddle and the Calculating a position of each of the fourth motors for generating a horse motion in a saddle circle;
Calculating a saddle angle, which is a position of the saddle and an angle at which the saddle is inclined relative to the ground surface using the position; And
Outputting motion coordinates of the horse robot using the saddle position and the inclined angle
Motion editor method of a horse robot comprising a.

The method of claim 1,
Computing the position of each of the first motor, the second motor, the third motor and the fourth motor,
Calculating two-dimensional coordinates of the first motor by using a radius of the first motor and a rotation angle of the first motor; And
The position is dependent on the link according to the two-dimensional coordinates of the first motor, the radius of the second motor, the rotation angle of the second motor, the radius of the third motor, the rotation angle of the third motor, the movement of the motor Calculating two-dimensional coordinates of the third motor and two-dimensional coordinates of the fourth motor by using the vertical axis values fixed to the base of the changing link axis and the motor axis,
Two-dimensional coordinates of the second motor is the same as two-dimensional coordinates of the first motor
How to Motion Horse Editor.

The method of claim 2,
Computing the position of the saddle and the saddle angle,
Calculating intersection point coordinates of a first circle having a center point as the center point and the second circle having a center point as the center point of the fourth motor; And
Calculating position and saddle angle of the saddle using the intersection point coordinates;
Motion editor method of a horse robot comprising a.

The method of claim 3,
The step of calculating the intersection coordinates,
Calculating a distance D between two-dimensional coordinates of the third motor and two-dimensional coordinates of the fourth motor;
Calculating a fourth link (L4) value by using each of three link values (L1, L2, L3) connected to each of the third and fourth motors;
The intersection coordinates ((x _i1 ,) using the distance D, the fourth link L4, the two-dimensional coordinates of the third motor, the two-dimensional coordinates of the fourth motor, and the radius L5 of the first circle. calculating y _i1 ), (x _i2 , y _i2 ))
Motion editor method of a horse robot comprising a.

5. The method of claim 4,
Calculating the position and saddle angle of the saddle,
The intersection coordinates (x _i1 , y _i1 ), the two-dimensional coordinates (x ₃ , y ₃ ) of the fourth motor, and three link values L1, L2, respectively connected to the third motor and the fourth motor, respectively. Calculating the saddle position (X _seat , Y _seat , θ _seat ) by calculating the saddle coordinates (X _seat , Y _seat ) and saddle angle (θ _seat ) using the following equation using L3). How to Motion Horse Editor.