公开(公告)号：KR1020140078498A

公开(公告)日：2014-06-25

申请号：KR1020120147921

申请日：2012-12-17

Applicant: 현대자동차주식회사

Inventor： 유수정 ,  양우성

IPC: B25J19/02 ,  G01L3/24 ,  B25J9/16

CPC classification number: B25J9/1633 ,  Y10S901/09

Abstract: A method and system for extracting intended torque of a wearable robot. The method for extracting intended torque of a wearable robot using a rotation angle or a rotation angular speed of a motor driving a joint and a rotation angle or a rotation angular speed of a link connected to the joint comprises a motor torque calculation step of calculating a motor torque from the rotation angular speed of the motor; a link rotation calculation step of calculating the rotation angular speed of the link; and an intended torque calculations step of calculating an estimated value of intended torque applied by a wearer by substituting the motor torque and the rotation angular speed of the link in a disturbance observer.

Abstract translation: 一种用于提取可穿戴机器人的预期扭矩的方法和系统。 使用驱动接头的马达的旋转角度或旋转角速度以及连接到接头的连杆的旋转角度或旋转角速度来提取可穿戴机器人的预期扭矩的方法包括：马达转矩计算步骤， 马达的转矩从马达的转角速度; 链接旋转计算步骤，计算所述连杆的旋转角速度; 以及预期扭矩计算步骤，通过将扰动观察者中的链路的电动机转矩和旋转角速度代入，来计算穿戴者施加的预期扭矩的估计值。

公开(公告)号：KR101383726B1

公开(公告)日：2014-04-08

申请号：KR1020120147922

申请日：2012-12-17

Applicant: 현대자동차주식회사

Inventor： 서정호 ,  양우성

IPC: B25J9/16 ,  B25J19/02

CPC classification number: B25J9/1607

Abstract: Disclosed is a method for improving the sensitivity of a robot, which comprises a calculation step for calculating the angular speed of each joint of a robot; a deduction step for converting the angular speed of each joint into the speed of the tip end of the robot using a Jacobian matrix to find the acceleration of the tip end of the robot by differentiating the speed of the tip end of the robot; and a conversion step for multiplying the weight of the robot by the found acceleration to find a force at the tip end, multiplying an increase ratio by the force, and converting it into required torque for each joint using a Jacobian matrix.

Abstract translation: 公开了一种用于提高机器人的灵敏度的方法，其包括用于计算机器人的每个接头的角速度的计算步骤; 使用雅可比矩阵将每个关节的角速度转换为机器人的尖端的速度的扣除步骤，通过区分机器人的末端的速度来找到机器人的尖端的加速度; 以及转换步骤，用于将所述机器人的重量乘以所述发现的加速度以在所述尖端处找到力，将所述增加比乘以所述力，并且使用雅可比矩阵将其转换成每个接头的所需扭矩。

公开(公告)号：KR101327012B1

公开(公告)日：2013-11-13

申请号：KR1020120000024

申请日：2012-01-02

Applicant: 현대자동차주식회사

Inventor： 이석원 ,  양우성

IPC: B25J9/16 ,  B25J19/02

CPC classification number: B25J9/1633 ,  G05B2219/40305

Abstract: 로봇에 가해지는 착용자의 인적토크를 산출하는 입력단계; 어드미턴스 모델을 통하여 상기 인적토크를 통해 로봇의 목표각속도를 도출하는 목표단계; 및 상기 목표각속도와 현재 로봇의 실제각속도의 차이에 최적제어 게인을 적용하여 로봇의 구동부에 입력되는 요구토크를 산출하는 산출단계;를 포함하는 착용식 로봇의 구동제어방법 및 시스템이 소개된다.

公开(公告)号：KR101305819B1

公开(公告)日：2013-09-06

申请号：KR1020120000796

申请日：2012-01-04

Applicant: 현대자동차주식회사

Inventor： 유수정 ,  양우성

IPC: B25J9/16 ,  B25J19/00

CPC classification number: B25J9/0006 ,  B25J9/16 ,  B25J9/1633 ,  G05B2219/40305

Abstract: 본 발명은 각 관절의 움직임이 모터로 구동되며 상기 모터에서의 전류 변화를 측정하여 각 관절에서의 토크를 계산할 수 있는 착용식 로봇이 그리퍼로 들어올리는 중량물의 중량을 알지 못하는 상황에서, 상기 그리퍼에 설치된 가속도센서의 측정값과 상기 각 관절의 모터의 전류변화를 이용하여, 사용자의 조작 의도 토크를 간단하고 신속하게 추출해냄으로써, 비교적 저렴한 비용으로 착용식 로봇의 적절한 제어가 이루어질 수 있도록 한다.

公开(公告)号：KR1020130080076A

公开(公告)日：2013-07-12

申请号：KR1020120000796

申请日：2012-01-04

Applicant: 현대자동차주식회사

Inventor： 유수정 ,  양우성

IPC: B25J9/16 ,  B25J19/00

CPC classification number: B25J9/0006 ,  B25J9/16 ,  B25J9/1633 ,  G05B2219/40305

Abstract: PURPOSE: A method of extracting torque for a manipulating intention of a user using a wearable robot is provided to properly control the wearable robot at relatively low costs by rapidly extracting the torque. CONSTITUTION: A method of extracting torque for a manipulating intention of a user using a wearable robot comprises the steps of: pre-processing the robot to calculate torque of a driving device of the robot (S10); preliminarily driving the robot to move a job position set by a controller of the robot (S20); calculating additional torque (S30); calculating a mass (S40); calculating an external force (S50); calculating external torque (S60); calculating entire torque (S70); and calculating intension torque (S80). When the user adds the intension torque of the user to a handle and the robot moves while a heavy object is held in a gripper, entire torque required for a movement is calculated by using a current variation which is taken in a joint of the robot. The intension torque of the user is calculated by subtracting the torque of the driving device and the torque by the external force from the entire torque. [Reference numerals] (AA) Start; (BB) Hold a heavy object and drive a robot; (CC) Calculate a position of the heavy object; (DD) Calculate a mass (m_e) of the heavy object; (EE) Add the intension torque of users; (FF) Finish; (S10) Calculate torque (τ_a) of a driving device; (S30) Calculate additional torque (τ_e (job)); (S50) Calculate an external force by the acceleration of an acceleration sensor and the mass of the heavy object f_e = m_e × a; (S60) Calculate external torque whenever a position of the heavy object is varied; (S70) Calculate entire torque (τ) of the driving device; (S80) Calculate intension torque (τ_h) τ_h = τ - (τ_a + τ_e)

Abstract translation: 目的：提供使用可穿戴机器人的使用者的操作意图的扭矩提取方法，通过快速提取扭矩以相对低的成本适当地控制可穿戴机器人。 构成：使用可穿戴机器人的用户的操纵意图提取扭矩的方法包括以下步骤：预处理机器人以计算机器人的驱动装置的扭矩（S10）; 预先驱动机器人移动由机器人的控制器设定的作业位置（S20）; 计算附加扭矩（S30）; 计算质量（S40）; 计算外力（S50）; 计算外部扭矩（S60）; 计算整个转矩（S70）; 并计算强度转矩（S80）。 当用户将用户的强度扭矩添加到手柄并且机器人在将重物体保持在夹持器中时移动时，通过使用在机器人的关节中拍摄的电流变化来计算移动所需的整个扭矩。 通过从整个扭矩减去驱动装置的扭矩和外力的扭矩来计算使用者的强度扭矩。 （附图标记）（AA）开始; （BB）握住重物并驱动机器人; （CC）计算重物的位置; （DD）计算重物质量（m_e）; （EE）增加用户的意图扭矩; （FF）完成; （S10）计算驱动装置的转矩（τ_a）; （S30）计算附加扭矩（τ_e（作业））; （S50）通过加速度传感器的加速度和重物体的质量f_e = m_e×a计算外力; （S60）每当重物的位置变化时，计算外部扭矩; （S70）计算驱动装置的整体转矩（τ）; （S80）计算力矩（τ_h）τ_h=τ-（τ_a+τ_e）

公开(公告)号：KR1020130078886A

公开(公告)日：2013-07-10

申请号：KR1020120000026

申请日：2012-01-02

Applicant: 현대자동차주식회사

Inventor： 서정호 ,  양우성

IPC: B25J9/16 ,  G05D1/08

CPC classification number: B62D57/032

Abstract: PURPOSE: A method for controlling balance of walking robots is provided to facilitate commercialization by easily calculating a zero moment point (ZMP) and pursuing walking stability of the robot. CONSTITUTION: A method for controlling balance of walking robots comprises the steps of: recognizing position of centroid and acceleration of the walking robot in three dimensional coordinate system (S100): recognizing ZMP position in x-y plane using acceleration in the X-axis direction and the Y-axis direction of the centroid and the position of the centroid (S200); and controlling walk of the walking robot to position the ZMP in the x-y plane to a stable area including soles of the walking robot (S300). [Reference numerals] (AA) Start; (BB) Finish; (S100) Step of recognizing the position of centroid; (S200) Step of recognizing ZMP; (S300) Step of controlling walk; (S400) Step of determining the step; (S500) Step of predicting the ZMP; (S600) Step of modifying the step

Abstract translation: 目的：提供一种控制行走机器人平衡的方法，方便商业化，方便计算零时刻点（ZMP），追求机器人的步行稳定性。 构成：步行机器人的平衡控制方法包括以下步骤：在三维坐标系中识别步行机器人的质心位置和加速度（S100）：使用X轴方向的加速度识别xy平面中的ZMP位置， 质心的Y轴方向和质心的位置（S200）; 并且控制步行机器人的行走以将ZMP在x-y平面上定位到包括步行机器人的鞋底的稳定区域（S300）。 （附图标记）（AA）开始; （BB）完成; （S100）识别质心的位置的步骤; （S200）识别ZMP的步骤; （S300）步行控制步骤 （S400）确定步骤的步骤; （S500）预测ZMP的步骤; （S600）修改步骤的步骤

公开(公告)号：KR1020130067369A

公开(公告)日：2013-06-24

申请号：KR1020110134235

申请日：2011-12-14

Applicant: 현대자동차주식회사

Inventor： 이석원 ,  양우성

IPC: G01M13/00 ,  G01M99/00 ,  G01L3/00 ,  B25J19/06

CPC classification number: G01M13/02

Abstract: PURPOSE: A device for extracting driving properties of a driving system is provided to experimentally obtain a motor torque constant, which determines the output torque in comparison with applied current of a motor, of a machine system comprising an electric motor and decelerator. CONSTITUTION: A device for extracting driving properties of a driving system comprises a driving unit(100), a power-torque sensor unit(200), a rod unit, and a control unit. The driving unit supplies rotating power to a driving shaft. The power-torque sensor unit is joined/separated to/from the driving shaft of the driving unit and installed not to be rotated when being joined to the driving shaft. The rod unit is joined/separated to/from the driving shaft. The control unit controls driving energy supplied to the driving unit. When the driving unit and the power-torque sensor are joined, the control unit calculates a driving unit constant based on a relation of the input driving energy and the torque measured by the rotating power of the driving shaft. When the driving unit and the rod unit are joined, the control unit calculates frictional constant based on the calculated driving unit constant, the input driving energy, inertia moment of a rod, and the angular acceleration of the rod by the rotating power. The control unit calculates a frictional coefficient based on the calculated frictional torque.

Abstract translation: 目的：提供一种用于提取驱动系统的驱动特性的装置，以实验获得与包括电动机和减速器的机器系统相比，确定与电动机的施加电流相比的输出转矩的电动机转矩常数。 构成：用于提取驱动系统的驱动特性的装置包括驱动单元（100），功率转矩传感器单元（200），杆单元和控制单元。 驱动单元向驱动轴提供旋转动力。 动力转矩传感器单元与驱动单元的驱动轴接合/分离，并且在被连接到驱动轴时安装成不旋转。 杆单元与驱动轴接合/分离。 控制单元控制提供给驱动单元的驱动能量。 当驱动单元和功率转矩传感器接合时，控制单元基于输入驱动能量与通过驱动轴的旋转功率测量的转矩的关系来计算驱动单元常数。 当驱动单元和杆单元接合时，控制单元基于所计算的驱动单元常数，输入驱动能量，杆的惯性力矩和通过旋转功率的杆的角加速度来计算摩擦常数。 控制单元基于计算的摩擦转矩来计算摩擦系数。

公开(公告)号：KR101262978B1

公开(公告)日：2013-05-08

申请号：KR1020110128985

申请日：2011-12-05

Applicant: 현대자동차주식회사

Inventor： 이석원 ,  양우성

IPC: B25J19/02 ,  G01L1/00

CPC classification number: G01L5/161 ,  B25J13/085 ,  B62D57/032

Abstract: PURPOSE: A module and a method for measuring repulsive force for a walking robot are provided to distinguish the walking condition of a two-foot robot through a modular sensor, and to apply the module and the method for controlling the posture or balance of the walking robot. CONSTITUTION: A module for measuring repulsive force for a walking robot comprises a base frame(100), a plurality of installation units(300), a one-shaft force sensor(500), and a control unit(600). The installation units comprise a plurality of lateral surfaces(320) and an upper surface(340). The one-shaft force sensor is individually equipped to the lateral surfaces and the upper surface. The control unit calculates resultant force of each installation unit from measurement data of the force sensor, and calculates GRF(Ground Reaction Force) by synthesizing each resultant force of the installation units.

Abstract translation: 目的：提供一种用于测量步行机器人的排斥力的模块和方法，以通过模块式传感器来区分双足机器人的行走状态，并应用模块和控制步行姿势或平衡的方法 机器人。 构成：用于测量步行机器人的排斥力的模块包括基架（100），多个安装单元（300），单轴力传感器（500）和控制单元（600）。 安装单元包括多个侧表面（320）和上表面（340）。 单轴力传感器分别装配到侧表面和上表面。 控制单元从力传感器的测量数据计算每个安装单元的合力，并通过合成安装单元的合力来计算GRF（地面反作用力）。

公开(公告)号：KR1020130021558A

公开(公告)日：2013-03-06

申请号：KR1020110083881

申请日：2011-08-23

Applicant: 현대자동차주식회사

Inventor： 이석원 ,  양우성

IPC: A63B24/00 ,  A61B5/22 ,  A63B23/12 ,  A63B23/04

CPC classification number: A63B24/0087 ,  A61B5/224 ,  A63B23/04 ,  A63B23/12 ,  A63B2220/51

Abstract: PURPOSE: A method for strengthening muscle and an exercise device using the same are provided to effectively strengthen specific muscles by adjusting intensity applied to a human body. CONSTITUTION: A method for strengthening muscle comprises a step(S100) of measuring the muscular strength of a user and drawing a fragile muscular strength vector, a goal calculation step(S200) for calculating a goal muscular strength vector according to the fragile muscular strength vector, a locus deduction step(S300) for deducing an exercise locus according to the goal muscular strength vector, and an exercise guide step(S400) for moving an exercise device along a locus. [Reference numerals] (AA) Start; (BB) Measuring the muscular strength of a user; (CC) Calculating the muscular strength of each muscle; (DD) Comparing DataBase; (EE) Comparing the degree of muscularity; (FF) User power > threshold value ?; (GG) Increasing user power; (HH) End; (S100) Drawing fragile muscles; (S200) Determining target muscular strength/exercise time; (S300) Generating an exercise locus; (S400) Operating an exercise device

Abstract translation: 目的：提供一种加强肌肉的方法和使用其的运动装置，以通过调节施加于人体的强度来有效地加强特定的肌肉。 构成：强化肌肉的方法包括：测量使用者的肌肉力量并绘制脆弱的肌肉力量矢量的步骤（S100）;目标计算步骤（S200），用于根据脆弱的肌肉力量矢量计算目标肌力量矢量 ，用于根据目标肌肉力量矢量推导运动轨迹的轨迹减除步骤（S300），以及用于沿着轨迹移动锻炼装置的运动引导步骤（S400）。 （附图标记）（AA）开始; （BB）测量使用者的肌肉力量; （CC）计算每只肌肉的肌肉力量; （DD）比较DataBase; （EE）比较肌肉的程度; （FF）用户功率>阈值？ （GG）增加用户功率; （HH）结束; （S100）绘制脆弱的肌肉; （S200）确定目标肌肉力量/运动时间; （S300）生成运动轨迹; （S400）操作健身器材