1. 제목 : Constraint Manifolds and the Design of Robotic Systems


Part I: Clifford Algebras, Constraint Manifolds, and their


Engineering Applications


Part II: Geometric Analysis and Design of Platform Linkages





2. 연사 : Prof. J. Michael McCarthy (Department of Mechanical and


Aerospace Engineering University of California, Irvine)





3. 일시 : 1999년 9월 16일 10:00-12:00


4. 장소 : 301동 1512호


5. 내용 :


There is an increasing demand for reduced complexity robotic systems that are tailored to the specific needs of a user. Applications range from assistive devices that enhance movements of the disabled to specialized appliances for home, office, and factory automation. The constraint manifold representation of a robotic device provides an effectives framework for the systematic design of these systems. A constraint manifold is an algebraic ``surface'' in which each point represents a position and orientation reachable by the end-effector of a device. The constraint manifold for a system with multiple constraints is simply the intersection of the individual constraint manifolds. This provides a ``structure from function'' formalism for the design and optimization of complex robotic systems. Of particular importance is the ability to fit lower dimensional constraint manifolds to tasks that have been previously accomplished by six degree of freedom robotic systems. Because fewer dimensions means fewer actuators, these systems are less complicated and easier to operate. The proposed design theory implements techniques of algebraic and differential geometry via three-dimensional computer graphics. Virtual Reality methods are being developed for interactive design and simulation of these devices.





6. 연사 약력 :


1985 - 1987 서울대학교 조선공학과, 학사


1987 - 1988 한국과학기술원 기계공학과, 석사


1998 - 1999 조지아 공대(Georgia Tech) 기계공학과, 박사


1998 - 현재 대한항공 항공기술연구원





7. 연락처 : 기계항공공학부 박종우 교수 (전화 : 880-7133)