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Archive for the ‘Robotics’ Category

My Final Thesis

Tomorrow I’ll return to my country. I’ve been here (korea) for 2 years and 3 months. I underwent good and also hard time here, and Alhamdulillah, gladly I could pass them all. Here is a small video what I did for almost 2 years work:

I’d like to thank for everyone who has helped me during my stay in Korea.

The details are on my thesis, please note that the data is in preliminary test.

Reference:

A 6-DOF Gait Rehabilitation Robot with Upper and Lower-Limb Connections that Allows Walking Velocity Updates on Various Terrains. Jungwon Yoon, Bondhan Novandy, Chul-ho Yoon, and Ki-Jong Park. IEEE Transactions on Mechatronics. Focused Sections: Healthcare Mechatronics. 2010. (Accepted)

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Screw Transformation

I am writing this while waiting for my “Robot Analysis” class at 11 am. Any of you who has basic knowledge about robotics, especially the kinematics must has ever heard the word Denavit-Hartenberg transformation. Well, I am not going to write about this method, but the other method which was AFAIK found the latest around 1971, if I am not mistaken.

I am not going to explain the whole theory, I will just show you the homework and Matlab program that I wrote for this transformation type. In Screw transformation, the reference and final point is arbitrarily chosen, this makes this method different to DH method.

Ok. Here’s the question:

HW11_CH2

Here’s the answer: (more…)

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