{"id":7760,"date":"2025-02-15T15:34:09","date_gmt":"2025-02-15T06:34:09","guid":{"rendered":"https:\/\/now0930.pe.kr\/wordpress\/?p=7760"},"modified":"2026-10-04T11:06:47","modified_gmt":"2026-10-04T02:06:47","slug":"%eb%a1%9c%eb%b4%87%ea%b3%b5%ed%95%99%ea%b3%bc-%ec%9d%b8%ea%b3%b5%ec%a7%80%eb%8a%a5","status":"publish","type":"post","link":"https:\/\/now0930.pe.kr\/wordpress\/%eb%a1%9c%eb%b4%87%ea%b3%b5%ed%95%99%ea%b3%bc-%ec%9d%b8%ea%b3%b5%ec%a7%80%eb%8a%a5\/","title":{"rendered":"\ub85c\ubd07\uacf5\ud559\uacfc \uc778\uacf5\uc9c0\ub2a5"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">K-MOOC \ub85c\ubd07\uacf5\ud559\uacfc \uc778\uacf5\uc9c0\ub2a5 \uac15\uc758 \ub178\ud2b8<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/lms.kmooc.kr\/course\/view.php?id=3130\">https:\/\/lms.kmooc.kr\/course\/view.php?id=3130<\/a><\/p>\n\n\n\n<div data-wp-interactive=\"core\/file\" class=\"wp-block-file\"><object data-wp-bind--hidden=\"!state.hasPdfPreview\" hidden class=\"wp-block-file__embed\" data=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/02\/NeoStudio_20250215_153046_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4-\uae30\uc220\uc0ac13.pdf\" type=\"application\/pdf\" style=\"width:100%;height:600px\" aria-label=\"NeoStudio_20250215_153046_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4 \uae30\uc220\uc0ac13\uc758 \uc0bd\uc785.\"><\/object><a id=\"wp-block-file--media-0c124e71-90c2-4026-b978-2ff2b4da96fc\" href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/02\/NeoStudio_20250215_153046_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4-\uae30\uc220\uc0ac13.pdf\">NeoStudio_20250215_153046_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4 \uae30\uc220\uc0ac13<\/a><a href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/02\/NeoStudio_20250215_153046_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4-\uae30\uc220\uc0ac13.pdf\" class=\"wp-block-file__button wp-element-button\" download aria-describedby=\"wp-block-file--media-0c124e71-90c2-4026-b978-2ff2b4da96fc\">\ub2e4\uc6b4\ub85c\ub4dc<\/a><\/div>\n\n\n\n<div data-wp-interactive=\"core\/file\" class=\"wp-block-file\"><object data-wp-bind--hidden=\"!state.hasPdfPreview\" hidden class=\"wp-block-file__embed\" data=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/02\/NeoStudio_20250215_153046_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4-\uae30\uc220\uc0ac14.pdf\" type=\"application\/pdf\" style=\"width:100%;height:600px\" aria-label=\"NeoStudio_20250215_153046_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4 \uae30\uc220\uc0ac14\uc758 \uc0bd\uc785.\"><\/object><a id=\"wp-block-file--media-75744af9-6b2a-4eaf-a72a-105646b2c381\" href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/02\/NeoStudio_20250215_153046_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4-\uae30\uc220\uc0ac14.pdf\">NeoStudio_20250215_153046_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4 \uae30\uc220\uc0ac14<\/a><a href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/02\/NeoStudio_20250215_153046_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4-\uae30\uc220\uc0ac14.pdf\" class=\"wp-block-file__button wp-element-button\" download aria-describedby=\"wp-block-file--media-75744af9-6b2a-4eaf-a72a-105646b2c381\">\ub2e4\uc6b4\ub85c\ub4dc<\/a><\/div>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1945\" height=\"1173\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/02\/image.png\" alt=\"\" class=\"wp-image-7761\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/02\/image.png 1945w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/02\/image-768x463.png 768w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/02\/image-1536x926.png 1536w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/02\/image-1568x946.png 1568w\" sizes=\"auto, (max-width: 1945px) 100vw, 1945px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"The Bayes Filter: A Tool Every Roboticist Should Know\" width=\"580\" height=\"326\" src=\"https:\/\/www.youtube.com\/embed\/nVU1DQ-_R5E?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<div data-wp-interactive=\"core\/file\" class=\"wp-block-file\"><object data-wp-bind--hidden=\"!state.hasPdfPreview\" hidden class=\"wp-block-file__embed\" data=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/02\/Design-of-a-Motion-Profile-Part-A.pdf\" type=\"application\/pdf\" style=\"width:100%;height:600px\" aria-label=\"Design of a Motion Profile - Part A\uc758 \uc0bd\uc785.\"><\/object><a id=\"wp-block-file--media-e952b514-6947-4f03-a06a-2901f041d73f\" href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/02\/Design-of-a-Motion-Profile-Part-A.pdf\">Design of a Motion Profile &#8211; Part A<\/a><a href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/02\/Design-of-a-Motion-Profile-Part-A.pdf\" class=\"wp-block-file__button wp-element-button\" download aria-describedby=\"wp-block-file--media-e952b514-6947-4f03-a06a-2901f041d73f\">\ub2e4\uc6b4\ub85c\ub4dc<\/a><\/div>\n\n\n\n<div data-wp-interactive=\"core\/file\" class=\"wp-block-file\"><object data-wp-bind--hidden=\"!state.hasPdfPreview\" hidden class=\"wp-block-file__embed\" data=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/02\/02-Design-of-a-Motion-Profile-Part-B.pdf\" type=\"application\/pdf\" style=\"width:100%;height:600px\" aria-label=\"02 Design of a Motion Profile - Part B\uc758 \uc0bd\uc785.\"><\/object><a id=\"wp-block-file--media-858b16ca-811d-4e98-bbc9-1159369126f2\" href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/02\/02-Design-of-a-Motion-Profile-Part-B.pdf\">02 Design of a Motion Profile &#8211; Part B<\/a><a href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/02\/02-Design-of-a-Motion-Profile-Part-B.pdf\" class=\"wp-block-file__button wp-element-button\" download aria-describedby=\"wp-block-file--media-858b16ca-811d-4e98-bbc9-1159369126f2\">\ub2e4\uc6b4\ub85c\ub4dc<\/a><\/div>\n\n\n\n<div data-wp-interactive=\"core\/file\" class=\"wp-block-file\"><object data-wp-bind--hidden=\"!state.hasPdfPreview\" hidden class=\"wp-block-file__embed\" data=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/02\/02-Design-of-a-Motion-Profile-Part-C.pdf\" type=\"application\/pdf\" style=\"width:100%;height:600px\" aria-label=\"02 Design of a Motion Profile - Part C\uc758 \uc0bd\uc785.\"><\/object><a id=\"wp-block-file--media-013684f5-8c7c-45d3-89b2-aabcf4198803\" href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/02\/02-Design-of-a-Motion-Profile-Part-C.pdf\">02 Design of a Motion Profile &#8211; Part C<\/a><a href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/02\/02-Design-of-a-Motion-Profile-Part-C.pdf\" class=\"wp-block-file__button wp-element-button\" download aria-describedby=\"wp-block-file--media-013684f5-8c7c-45d3-89b2-aabcf4198803\">\ub2e4\uc6b4\ub85c\ub4dc<\/a><\/div>\n\n\n\n<div data-wp-interactive=\"core\/file\" class=\"wp-block-file\"><object data-wp-bind--hidden=\"!state.hasPdfPreview\" hidden class=\"wp-block-file__embed\" data=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/02\/02-Design-of-a-Motion-Profile-Part-D.pdf\" type=\"application\/pdf\" style=\"width:100%;height:600px\" aria-label=\"02 Design of a Motion Profile - Part D\uc758 \uc0bd\uc785.\"><\/object><a id=\"wp-block-file--media-2bb4f4ca-6507-4f29-9354-b4783bd9c95d\" href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/02\/02-Design-of-a-Motion-Profile-Part-D.pdf\">02 Design of a Motion Profile &#8211; Part D<\/a><a href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/02\/02-Design-of-a-Motion-Profile-Part-D.pdf\" class=\"wp-block-file__button wp-element-button\" download aria-describedby=\"wp-block-file--media-2bb4f4ca-6507-4f29-9354-b4783bd9c95d\">\ub2e4\uc6b4\ub85c\ub4dc<\/a><\/div>\n\n\n\n&#8220;`html\n<div class=\"chapter19-wide\">\n\n  <h1>\ub85c\ubd07\uacf5\ud559\uacfc \uc778\uacf5\uc9c0\ub2a5<\/h1>\n\n  <div class=\"subtitle\">\n    Robot \u00b7 DOF \u00b7 Workspace \u00b7 Coordinate Transform \u00b7 Perception \u00b7 Motion Planning \u00b7 C-Space \u00b7 PRM \u00b7 RRT\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>1. \ub85c\ubd07\uc758 \uc885\ub958<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294 \ub85c\ubd07\uc744 \ud06c\uac8c\n      Hardware Robot\uacfc Software Robot\uc73c\ub85c \uad6c\ubd84\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"grid-2\">\n\n      <div>\n        <h3>Hardware Robot<\/h3>\n        <ul>\n          <li>\uc778\uac04\ud615\ud0dc<\/li>\n          <li>\uc778\uac04\uacfc Interface \uac00\ub2a5<\/li>\n          <li>\uc0b0\uc5c5\uc6a9 Robot<\/li>\n          <li>Service Robot<\/li>\n        <\/ul>\n      <\/div>\n\n      <div>\n        <h3>Software Robot<\/h3>\n        <ul>\n          <li>\ub208\uc5d0 \ubcf4\uc774\uc9c0 \uc54a\ub294 \ud615\ud0dc<\/li>\n          <li>\uc9c0\ub2a5 \uc911\uc2ec<\/li>\n          <li>AI Robot\uacfc \uc5f0\uacb0<\/li>\n        <\/ul>\n      <\/div>\n\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>2. \uc0b0\uc5c5\uc6a9 Robot\uacfc AI Robot<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294 \uc0b0\uc5c5\uc6a9 Robot\uc744\n      \ubc18\ubcf5\uc801\uc774\uace0 \ub2e8\uc21c\ud55c \uc791\uc5c5\uc744 \uc218\ud589\ud558\uc5ec\n      \uc0dd\uc0b0\uc131\uc744 \ub192\uc774\ub294 Robot\uc73c\ub85c \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      \ubc18\ubcf5 \uc791\uc5c5\n      \u2192\n      \uc0dd\uc0b0\uc131 \ud5a5\uc0c1\n    <\/div>\n\n    <p>\n      \ubc18\uba74 AI Robot\uc740\n      \uc678\ubd80 \ud658\uacbd\uc744 \uc778\uc2dd\ud558\uace0 \uc2a4\uc2a4\ub85c \ud310\ub2e8\ud558\ub294\n      \ubc29\ud5a5\uc73c\ub85c \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Environment\n      \u2192\n      Perception\n      \u2192\n      Decision\n      \u2192\n      Action\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>3. \uc0b0\uc5c5\uc6a9 Robot\uc758 \ud2b9\uc131<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc6d0\ubcf8\uc5d0\uc11c\ub294 Robot\uc758 \uc7a5\uc810\uc744\n      \uc0dd\uc0b0\uc131\uacfc \uc720\uc5f0\uc131\uc73c\ub85c \uc5f0\uacb0\ud55c\ub2e4.\n    <\/p>\n\n    <ul>\n      <li>\ubcf5\uc7a1\ud558\uace0 \ubc18\ubcf5\uc801\uc778 \uc791\uc5c5 \uc218\ud589<\/li>\n      <li>\uc0dd\uc0b0\uc131 \ud5a5\uc0c1<\/li>\n      <li>\uc720\uc5f0\uc131 \uc99d\uac00<\/li>\n      <li>\uc791\uc5c5\ub0b4\uc6a9 \ubcc0\uacbd \uac00\ub2a5<\/li>\n    <\/ul>\n\n    <div class=\"memory\">\n      <strong>\n        \uc790\ub3d9\ud654 \uc124\ube44\uc640 \ube44\uad50\ud558\uc5ec\n        Robot\uc740 \uc790\uc720\ub3c4\uac00 \ub192\uace0\n        \uc5ec\ub7ec \uc791\uc5c5\uc5d0 \ub300\uc751\ud560 \uc218 \uc788\ub294 \uc720\uc5f0\uc131\uc774 \ud06c\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>4. Robot \uc885\ub958<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294 \ub2e4\uc74c\uacfc \uac19\uc740 Robot \uc720\ud615\uc744 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <ul>\n      <li>\uc0b0\uc5c5\uc6a9 Robot<\/li>\n      <li>Guide Service Robot<\/li>\n      <li>\uc804\ubb38 Service Robot<\/li>\n      <li>Entertainment Robot<\/li>\n    <\/ul>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>5. Workspace\uc5d0 \ub530\ub978 Robot \ubd84\ub958<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc77c\ubc18 \uc774\ubbf8\uc9c0\uc640 NeoStudio\uc5d0\uc11c\ub294\n      Robot\uc744 Workspace\uc640 Joint \uad6c\uc870\uc5d0 \ub530\ub77c \ubd84\ub958\ud55c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>6. Gantry \u00b7 Cartesian Robot<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc9c1\uad50\uc88c\ud45c\ud615 Robot\uc740\n      \uc11c\ub85c \uc9c1\uad50\ud558\ub294 3\uac1c\uc758 Prismatic Joint\ub85c \uad6c\uc131\ub41c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      P + P + P\n    <\/div>\n\n    <p>\n      \uc791\uc5c5\uacf5\uac04\uc740 \uc9c1\uc721\uba74\uccb4 \ud615\ud0dc\uc774\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>7. Cylindrical Robot<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc6d0\ud1b5\ud615 Robot\uc740\n      \ub450 \uac1c\uc758 Prismatic Joint\uc640\n      \ud558\ub098\uc758 Revolute Joint\ub85c \uad6c\uc131\ub41c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      P + P + R\n    <\/div>\n\n    <p>\n      Workspace\ub294 \uc6d0\ud1b5\uc88c\ud45c\uacc4\uc640 \uc720\uc0ac\ud55c \ud615\ud0dc\uc774\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>8. Spherical Robot<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uad6c\ud615 Robot\uc740\n      \ub450 \uac1c\uc758 Revolute Joint\uc640\n      \ud558\ub098\uc758 Prismatic Joint\ub85c \uad6c\uc131\ub41c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      R + R + P\n    <\/div>\n\n    <p>\n      \uc791\uc5c5\uacf5\uac04\uc740 \uad6c\uba74\uc88c\ud45c\uacc4\uc640 \uc720\uc0ac\ud558\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>9. SCARA Robot<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      SCARA\ub294 \uc6d0\ubcf8\uc5d0\uc11c \ub2e4\uc74c\uc758 \uc57d\uc790\ub85c \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Selective Compliance\n      Articulated Robot Arm\n    <\/div>\n\n    <p>\n      \ub450 \uac1c\uc758 Revolute Joint\uac00 \ubcd1\ub82c\ub85c \uc5f0\uacb0\ub418\uace0\n      \ub05d\ub2e8\uc5d0 Prismatic Joint\uac00 \uc5f0\uacb0\ub41c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      R + R + P\n    <\/div>\n\n    <p>\n      \uc77c\ubc18 \uc774\ubbf8\uc9c0\uc5d0\uc11c\ub294\n      \uc218\ud3c9\ubc29\ud5a5\uc73c\ub85c \ube60\ub974\uac8c \uc6c0\uc9c1\uc77c \uc218 \uc788\uace0\n      \uc218\uc9c1\ubc29\ud5a5\uc740 \uac15\uc131\uc774 \ub192\uc544\n      \uc0b0\uc5c5\ud604\uc7a5\uc5d0\uc11c \ub9ce\uc774 \uc0ac\uc6a9\ud55c\ub2e4\uace0 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>10. Articulated Robot<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc0ac\ub78c\uc758 \ud314\uacfc \uc720\uc0ac\ud55c\n      \ub2e4\uad00\uc808 Robot\uc774\ub2e4.\n    <\/p>\n\n    <p>\n      NeoStudio\uc5d0\ub294 \uc77c\ubc18\uc801\uc73c\ub85c\n      6\ucd95 Robot\uacfc \uc5f0\uacb0\ud558\uc5ec \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Multi Revolute Joint\n      \u2192\n      High DOF\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>11. Stanford Arm<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc77c\ubc18 \uc774\ubbf8\uc9c0\uc5d0\uc11c\ub294 Stanford Arm\uc744\n      Spherical Robot\uc758 \uc608\ub85c \ub098\ud0c0\ub0b4\uba70\n      \ucd1d 6\uac1c\uc758 \uc790\uc720\ub3c4\ub97c \uac16\ub294 \uac83\uc73c\ub85c \ud45c\uc2dc\ud55c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>12. Robot\uc758 \uad6c\uc131\uc694\uc18c<\/h2>\n\n  <div class=\"card\">\n\n    <ol>\n      <li>Manipulator<\/li>\n      <li>Controller<\/li>\n      <li>Actuator<\/li>\n      <li>End-Effector<\/li>\n      <li>Sensor<\/li>\n      <li>Processor<\/li>\n      <li>Software \/ Operating System<\/li>\n    <\/ol>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>13. Manipulator<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Manipulator\ub294\n      Link\uc640 Joint\ub85c \uad6c\uc131\ub41c\ub2e4.\n    <\/p>\n\n    <pre>\n      Joint \u2500\u2500 Link \u2500\u2500 Joint \u2500\u2500 Link \u2500\u2500 End-Effector\n    <\/pre>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>14. Controller \u00b7 Actuator<\/h2>\n\n  <div class=\"card\">\n\n    <div class=\"formula\">\n      Controller\n      \u2192\n      Actuator \uc81c\uc5b4\n    <\/div>\n\n    <p>\n      Actuator\ub294 Motor \ub4f1\uc5d0 \uc758\ud574\n      Manipulator\ub97c \uc2e4\uc81c\ub85c \uc6c0\uc9c1\uc778\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>15. End-Effector<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Manipulation\uc758 \ub9c8\uc9c0\ub9c9 \ubd80\ubd84\uc73c\ub85c\n      \uc2e4\uc81c \uc791\uc5c5\uc744 \uc218\ud589\ud55c\ub2e4.\n    <\/p>\n\n    <p>\n      \uc6d0\ubcf8 \uc608\uc2dc\ub294 \ub2e4\uc74c\uacfc \uac19\ub2e4.\n    <\/p>\n\n    <ul>\n      <li>Gripper<\/li>\n      <li>\uc6a9\uc811 Tool<\/li>\n      <li>\uae30\ud0c0 \uc791\uc5c5 Tool<\/li>\n    <\/ul>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>16. Sensor<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Sensor\ub294 \uc678\ubd80 \ud658\uacbd\uacfc\n      Robot \ub0b4\ubd80 \uc0c1\ud0dc\ub97c \uc778\uc2dd\ud558\ub294 \uc5ed\ud560\ub85c \uae30\ub85d\ub41c\ub2e4.\n    <\/p>\n\n    <p>\n      NeoStudio\uc5d0\ub294 \ub2e4\uc74c \uc608\uac00 \uc788\ub2e4.\n    <\/p>\n\n    <ul>\n      <li>Camera<\/li>\n      <li>\ucd08\uc74c\ud30c Sensor<\/li>\n      <li>Gyroscope<\/li>\n      <li>\uac00\uc18d\ub3c4 Sensor<\/li>\n      <li>Encoder<\/li>\n    <\/ul>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>17. Link \u00b7 Joint \u00b7 End-Effector<\/h2>\n\n  <div class=\"card\">\n\n    <pre>\n      Base\n       \u2502\n      Joint\n       \u2502\n      Link\n       \u2502\n      Joint\n       \u2502\n      Link\n       \u2502\n      End-Effector\n    <\/pre>\n\n    <p>\n      Robot\uc758 \uae30\uad6c\ub294\n      Link\uc640 Joint\uc758 \uc870\ud569\uc73c\ub85c \uad6c\uc131\ub418\uba70\n      \ub9c8\uc9c0\ub9c9\uc5d0 End-Effector\uac00 \uc704\uce58\ud55c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>18. \uc790\uc720\ub3c4 \u00b7 DOF<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc790\uc720\ub3c4\ub294 \uacf5\uac04\uc5d0\uc11c\n      \ubb3c\uccb4\uac00 \ub3c5\ub9bd\uc801\uc73c\ub85c \uc6c0\uc9c1\uc77c \uc218 \uc788\ub294\n      \uc6c0\uc9c1\uc784\uc758 \uc218\ub85c \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      DOF\n      =\n      Degree of Freedom\n    <\/div>\n\n    <p>\n      \uac15\uccb4\ub294 3\ucc28\uc6d0 \uacf5\uac04\uc5d0\uc11c\n      \uc77c\ubc18\uc801\uc73c\ub85c 6\uac1c\uc758 \uc790\uc720\ub3c4\ub97c \uac16\ub294\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      3 Translational\n      +\n      3 Rotational\n      =\n      6 DOF\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>19. Joint \uc885\ub958<\/h2>\n\n  <div class=\"card\">\n\n    <ul>\n      <li>Revolute Joint : \ud68c\uc804<\/li>\n      <li>Prismatic Joint : \uc9c1\uc120<\/li>\n      <li>Helical Joint : \ud68c\uc804\ud558\uba74\uc11c \uc9c1\uc120 \uc774\ub3d9<\/li>\n      <li>Cylindrical Joint<\/li>\n      <li>Universal Joint<\/li>\n    <\/ul>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>20. Gr\u00fcbler&#8217;s Formula<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\ub294 \uae30\uad6c\uc758 \uc790\uc720\ub3c4\ub97c \uacc4\uc0b0\ud558\ub294 \uc2dd\uc73c\ub85c\n      Gr\u00fcbler&#8217;s Formula\ub97c \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      DOF\n      =\n      m(N &#8211; 1 &#8211; J)\n      +\n      \u03a3 f\u1d62\n    <\/div>\n\n    <ul>\n      <li>m : \uacf5\uac04 \ucc28\uc6d0\uacfc \uad00\ub828\ub41c \uc790\uc720\ub3c4<\/li>\n      <li>N : Link \uc218<\/li>\n      <li>J : Joint \uc218<\/li>\n      <li>f\u1d62 : \uac01 Joint\uc758 \uc790\uc720\ub3c4<\/li>\n    <\/ul>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>21. Workspace<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Workspace\ub294\n      End-Effector\uac00 \uae30\uad6c\uc801\uc73c\ub85c\n      \ub3c4\ub2ec\ud560 \uc218 \uc788\ub294 \uacf5\uac04\uc774\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Robot Structure\n      \u2192\n      Workspace \uacb0\uc815\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>22. Rigid Motion<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uac15\uccb4\uc758 \uc704\uce58\uc640 \uc790\uc138\ubcc0\ud658\uc740\n      \ub450 \uc6b4\ub3d9\uc73c\ub85c \uc815\ub9ac\ud55c\ub2e4.\n    <\/p>\n\n    <ul>\n      <li>Translational Motion<\/li>\n      <li>Rotational Motion<\/li>\n    <\/ul>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>23. Rotation Matrix<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc88c\ud45c\uacc4 1\uc758 \ucd95\uc744\n      \uc88c\ud45c\uacc4 0\uc5d0\uc11c \ud45c\ud604\ud55c Rotation Matrix\ub97c\n      \ub2e4\uc74c\uacfc \uac19\uc774 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      R\u2070\u2081\n      =\n      [ X\u2070\u2081\n        Y\u2070\u2081\n        Z\u2070\u2081 ]\n    <\/div>\n\n    <p>\n      z\ucd95\uc744 \uae30\uc900\uc73c\ub85c \u03b8\ub9cc\ud07c \ud68c\uc804\ud558\uba74\n    <\/p>\n\n    <div class=\"formula\">\n      R =\n      [\n      cos\u03b8  -sin\u03b8   0\n      ;\n      sin\u03b8   cos\u03b8   0\n      ;\n      0      0      1\n      ]\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>24. \uc88c\ud45c \ubcc0\ud658<\/h2>\n\n  <div class=\"card\">\n\n    <div class=\"formula\">\n      Y = R X\n    <\/div>\n\n    <p>\n      \ud55c \uc88c\ud45c\uacc4\uc5d0\uc11c \ud45c\ud604\ud55c Vector\ub97c\n      Rotation Matrix\ub97c \uc774\uc6a9\ud558\uc5ec\n      \ub2e4\ub978 \uc88c\ud45c\uacc4\ub85c \ubcc0\ud658\ud55c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>25. Similarity Transformation<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\ub294 Matrix \ubcc0\ud658\uacfc \uad00\ub828\ud558\uc5ec\n      \ub2e4\uc74c \uc2dd\uc744 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      B = T\u207b\u00b9 A T\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>26. Homogeneous Transformation<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Rotation\uacfc Translation\uc744\n      \ud558\ub098\uc758 Matrix\ub85c \uacb0\ud569\ud558\uae30 \uc704\ud574\n      Homogeneous Transformation\uc744 \uc0ac\uc6a9\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      H\n      =\n      [\n      R   d\n      ;\n      0   1\n      ]\n    <\/div>\n\n    <div class=\"memory\">\n      <strong>\n        \ud68c\uc804 Matrix\uc640 \uc774\ub3d9 Vector\ub97c\n        \ud558\ub098\uc758 Transformation Matrix\uc5d0 \ud3ec\ud568\ud55c\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>27. \uc5ec\ub7ec Frame\uc758 \uc88c\ud45c\ubcc0\ud658<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Frame\uc744 \uc5f0\uc18d\ud574\uc11c \ubcc0\ud658\ud560 \uacbd\uc6b0\n      Transformation Matrix\ub97c \uc21c\uc11c\ub300\ub85c \uacf1\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      H = H\u2081 H\u2082 &#8230;\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>28. Robot Intelligence<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294 Robot\uc758 \uc9c0\ub2a5\uc744\n      \ud06c\uac8c \ub2e4\uc74c \ub450 \uae30\ub2a5\uc73c\ub85c \uc5f0\uacb0\ud55c\ub2e4.\n    <\/p>\n\n    <ol>\n      <li>Perception<\/li>\n      <li>Motion Planning<\/li>\n    <\/ol>\n\n    <pre>\n      Environment\n          \u2502\n          \u25bc\n      Perception\n          \u2502\n          \u25bc\n      Motion Planning\n          \u2502\n          \u25bc\n        Control\n          \u2502\n          \u25bc\n        Robot\n    <\/pre>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>29. Perception<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Perception\uc740 Sensor\ub97c \uc774\uc6a9\ud558\uc5ec\n      \uc8fc\ubcc0 \ud658\uacbd\uacfc Robot \uc0c1\ud0dc\ub97c \ud30c\uc545\ud558\ub294 \uacfc\uc815\uc774\ub2e4.\n    <\/p>\n\n    <p>\n      \uc2e4\uc81c \uce21\uc815\uc5d0\ub294 \ub2e4\uc74c \ubb38\uc81c\uac00 \uc874\uc7ac\ud55c\ub2e4\uace0 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <ul>\n      <li>Noise<\/li>\n      <li>\ubd88\ud655\uc2e4\uc131<\/li>\n      <li>\uc6c0\uc9c1\uc784\uc5d0 \ub530\ub978 Error<\/li>\n    <\/ul>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>30. State Estimation<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Sensor \uce21\uc815\uac12\uc5d0\ub294 Noise\uac00 \ud3ec\ud568\ub418\ubbc0\ub85c\n      Robot\uc758 \uc2e4\uc81c \uc0c1\ud0dc\ub97c \uc9c1\uc811 \uc54c\uae30 \uc5b4\ub835\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Measurement + Noise\n      \u2192\n      State Estimation\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>31. Bayes Filter<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294 State Estimation \ubc29\ubc95\uc73c\ub85c\n      Bayes Filter\ub97c \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Previous State\n      +\n      Measurement\n      \u2192\n      State Estimation\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>32. Kalman Filter<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Bayes Filter\uc758 \ud55c \uc885\ub958\ub85c\n      Kalman Filter\ub97c \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <p>\n      Robot \uc704\uce58\uc640 \uc0c1\ud0dc\ub97c \ucd94\uc815\ud558\ub294 \ub370 \uc0ac\uc6a9\ud558\uba70\n      \uacc4\uc0b0\uc774 \ube44\uad50\uc801 \ube60\ub978 \ubc29\ud5a5\uc73c\ub85c \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>33. Camera\uc640 Deep Learning<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Camera\ub97c \uc774\uc6a9\ud55c Perception\uc5d0\uc11c\ub294\n      \uc601\uc0c1\uc758 \uc815\ubcf4\ub7c9\uc774 \ud06c\uae30 \ub54c\ubb38\uc5d0\n      Deep Learning\uc744 \uc0ac\uc6a9\ud560 \uc218 \uc788\ub2e4\uace0 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Camera Image\n      \u2192\n      Deep Learning\n      \u2192\n      Perception\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>34. Motion Planning<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Motion Planning\uc740\n      Robot\uc774 \ud604\uc7ac \uc0c1\ud0dc\uc5d0\uc11c \ubaa9\ud45c \uc0c1\ud0dc\ub85c\n      \uc5b4\ub5bb\uac8c \uc774\ub3d9\ud560\uc9c0\ub97c \uacb0\uc815\ud558\ub294 \uacfc\uc815\uc774\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Start\n      \u2192\n      Path Planning\n      \u2192\n      Goal\n    <\/div>\n\n    <p>\n      \uc774\ub3d9 \uc911\uc5d0\ub294 \uc7a5\uc560\ubb3c\uc744 \ud53c\ud574\uc57c \ud55c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>35. Planning\uacfc Perception<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Planning\ub9cc\uc73c\ub85c \uc2e4\uc81c Robot\uc744\n      \uc815\ud655\ud558\uac8c \uc6c0\uc9c1\uc774\uae30\ub294 \uc5b4\ub835\ub2e4\uace0 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <p>\n      Perception\uc744 \uc774\uc6a9\ud558\uc5ec \uc8fc\ubcc0 \ubb3c\uccb4\uc640\n      Robot \uc0c1\ud0dc\ub97c Update\ud558\uace0\n      \uacbd\ub85c\ub97c \ubcf4\uc815\ud574\uc57c \ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Planning\n      +\n      Perception\n      \u2192\n      Feedback Control\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>36. Open Loop \u00b7 Closed Loop<\/h2>\n\n  <div class=\"card\">\n\n    <div class=\"table-wrap\">\n      <table>\n        <thead>\n          <tr>\n            <th>\uad6c\ubd84<\/th>\n            <th>NeoStudio \ub0b4\uc6a9<\/th>\n          <\/tr>\n        <\/thead>\n        <tbody>\n          <tr>\n            <td><strong>Open Loop<\/strong><\/td>\n            <td>Perception Feedback\ub97c \uc0ac\uc6a9\ud558\uc9c0 \uc54a\ub294 \ubc29\ud5a5<\/td>\n          <\/tr>\n          <tr>\n            <td><strong>Closed Loop<\/strong><\/td>\n            <td>Perception \uc815\ubcf4\ub97c \uc774\uc6a9\ud558\uc5ec \ub3d9\uc791 \ubcf4\uc815<\/td>\n          <\/tr>\n        <\/tbody>\n      <\/table>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>37. Human in the Loop<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc0ac\ub78c\uc774 \uc9c1\uc811 \uc77c\ubd80 Control\uc5d0 \ucc38\uc5ec\ud558\ub294\n      Human-in-the-Loop \uac1c\ub150\ub3c4 \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>38. Teaching by Demonstration<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Motion Planning \ubc29\ubc95\uc758 \ud558\ub098\ub85c\n      Teaching by Demonstration\uc744 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <p>\n      \uc0ac\ub78c\uc774 Robot\uc5d0\uac8c \uc791\uc5c5\uc744 \uc9c1\uc811 \uac00\ub974\uce58\uace0\n      Robot\uc774 \uadf8 \ub3d9\uc791\uc744 \ubc18\ubcf5\ud558\ub294 \ubc29\uc2dd\uc774\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>39. Path\uc640 Trajectory<\/h2>\n\n  <div class=\"card\">\n\n    <div class=\"formula\">\n      Path\n      =\n      \uc2dc\uac04 \uc815\ubcf4\uac00 \uc5c6\ub294 \uacf5\uac04\uc0c1\uc758 \uc704\uce58\n    <\/div>\n\n    <div class=\"formula\">\n      Trajectory\n      =\n      Path + Time\n    <\/div>\n\n    <p>\n      Trajectory\uc5d0\ub294 \uc704\uce58\ubfd0 \uc544\ub2c8\ub77c\n      \uc2dc\uac04\uc5d0 \ub530\ub978 \uc18d\ub3c4\u00b7\uac00\uc18d\ub3c4 \uc815\ubcf4\uac00 \ud3ec\ud568\ub41c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>40. Point-to-Point<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc2dc\uc791\uc810\uacfc \ubaa9\ud45c\uc810 \uc0ac\uc774\ub97c \uc774\ub3d9\ud558\ub294\n      Point-to-Point \ubc29\uc2dd\uc774 \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>41. Joint Space\uc640 Task Space<\/h2>\n\n  <div class=\"table-wrap\">\n\n    <table>\n      <thead>\n        <tr>\n          <th>\uad6c\ubd84<\/th>\n          <th>\uc758\ubbf8<\/th>\n        <\/tr>\n      <\/thead>\n\n      <tbody>\n        <tr>\n          <td><strong>Joint Space<\/strong><\/td>\n          <td>\uac01 Joint\uc758 \uad00\uc808\ubcc0\uc218\ub85c Robot \uc0c1\ud0dc\ub97c \ud45c\ud604<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Task Space<\/strong><\/td>\n          <td>End-Effector\uc758 \uc791\uc5c5\uacf5\uac04 \uc88c\ud45c\ub85c \ud45c\ud604<\/td>\n        <\/tr>\n      <\/tbody>\n\n    <\/table>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>42. Trajectory\uc640 \ub2e4\ud56d\uc2dd<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ubd80\ub4dc\ub7ec\uc6b4 Trajectory\ub97c \ub9cc\ub4e4\uae30 \uc704\ud574\n      \uc704\uce58\ub97c \uc2dc\uac04\uc758 \ub2e4\ud56d\uc2dd\uc73c\ub85c \ud45c\ud604\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      q(t)\n      =\n      a\u2080 + a\u2081t + a\u2082t\u00b2 + a\u2083t\u00b3\n    <\/div>\n\n    <p>\n      \uc704\uce58\ub97c \ubbf8\ubd84\ud558\uba74 \uc18d\ub3c4,\n      \ub2e4\uc2dc \ubbf8\ubd84\ud558\uba74 \uac00\uc18d\ub3c4\ub97c \uc5bb\ub294\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>43. 3\ucc28 \ub2e4\ud56d\uc2dd<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      3\ucc28 \ub2e4\ud56d\uc2dd\uc740\n      \uc2dc\uc791\u00b7\ub05d \uc704\uce58\uc640 \uc18d\ub3c4\uc870\uac74\uc744 \uc774\uc6a9\ud558\ub294 \ud615\ud0dc\ub85c \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      q(t\u2080), q\u0307(t\u2080),\n      q(t_f), q\u0307(t_f)\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>44. 5\ucc28 \ub2e4\ud56d\uc2dd<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uac00\uc18d\ub3c4 \uc870\uac74\uae4c\uc9c0 \ud3ec\ud568\ud558\uba74\n      6\uac1c\uc758 \uacbd\uacc4\uc870\uac74\uc774 \ud544\uc694\ud558\uace0\n      5\ucc28 \ub2e4\ud56d\uc2dd\uc73c\ub85c \uacbd\ub85c\ub97c \uc0dd\uc131\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      q(t\u2080), q\u0307(t\u2080), q\u0308(t\u2080),\n      q(t_f), q\u0307(t_f), q\u0308(t_f)\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>45. Linear Segment with Parabolic Blend<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\ub294 \uc2dc\uc791\uacfc \uc885\ub8cc\uad6c\uac04\uc740\n      Parabolic\ud558\uac8c \ub9cc\ub4e4\uace0,\n      \uc911\uac04\uc740 Linear Segment\ub85c \uad6c\uc131\ud558\ub294\n      Motion Profile\uc774 \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <pre>\n      Parabolic\n          \u2571\n         \u2571\n        \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500 Linear \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\n                                 \u2572\n                                  \u2572\n                                Parabolic\n    <\/pre>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>46. Feedforward Control<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc2dc\uc2a4\ud15c\uc758 \uad00\uc131\uc73c\ub85c \uc778\ud574\n      \uac00\uc18d\ub3c4 \ubcc0\ud654\uc5d0 \ub300\ud55c \uc9c0\uc5f0\uc774 \ubc1c\uc0dd\ud560 \uc218 \uc788\uc73c\ubbc0\ub85c\n      Feedforward \uc81c\uc5b4\ub97c \uc0ac\uc6a9\ud560 \uc218 \uc788\ub2e4\uace0 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      F = m a\n    <\/div>\n\n    <div class=\"formula\">\n      \u03c4 = I \u03b1\n    <\/div>\n\n    <div class=\"memory\">\n      <strong>\n        \uc6d0\ud558\ub294 \uac00\uc18d\ub3c4\uc5d0 \ub300\uc751\ud558\ub294 \uc785\ub825\uc744 \ubbf8\ub9ac \uacc4\uc0b0\ud558\uc5ec\n        \uc81c\uc5b4\uae30\uc758 \ubd80\ub2f4\uc744 \uc904\uc774\ub294 \ubc29\ud5a5\uc774\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>47. \uc7a5\uc560\ubb3c \ud68c\ud53c\uc640 Motion Planning<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc7a5\uc560\ubb3c\uc774 \uc788\ub294 \ud658\uacbd\uc5d0\uc11c\ub294\n      Start\uc5d0\uc11c Goal\uae4c\uc9c0\n      \ucda9\ub3cc\ud558\uc9c0 \uc54a\ub294 \uacbd\ub85c\ub97c \ucc3e\uc544\uc57c \ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Start\n      \u2192\n      Collision-Free Path\n      \u2192\n      Goal\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>48. Bug Algorithm<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc6d0\ubcf8\uc5d0\uc11c \uccab \ubc88\uc9f8 \uc7a5\uc560\ubb3c \ud68c\ud53c \ubc29\ubc95\uc73c\ub85c\n      Bug Algorithm\uc744 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <p>\n      Robot\uc774 \uc7a5\uc560\ubb3c\uc744 \ub9cc\ub098\uba74\n      \uacbd\uacc4\uba74\uc744 \ub530\ub77c \uc774\ub3d9\ud558\uba74\uc11c\n      \ub2e4\uc2dc Goal \ubc29\ud5a5\uc73c\ub85c \uc9c4\ud589\ud558\ub294 \ud615\ud0dc\uc774\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>49. Artificial Potential Function<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ubaa9\ud45c\ub294 Robot\uc744 \ub04c\uc5b4\ub2f9\uae30\uace0\n      \uc7a5\uc560\ubb3c\uc740 \ubc00\uc5b4\ub0b4\ub294 \ubc29\ud5a5\uc758\n      Artificial Potential Function\uc744 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Goal\n      \u2192\n      Attractive\n    <\/div>\n\n    <div class=\"formula\">\n      Obstacle\n      \u2192\n      Repulsive\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>50. Configuration Space \u00b7 C-Space<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Robot\uc758 \ubaa8\ub4e0 \uac00\ub2a5\ud55c \uc0c1\ud0dc\ub97c\n      Configuration\uc774\ub77c\uace0 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Configuration\n      =\n      Robot\uc758 \ubaa8\ub4e0 \uad00\uc808 \uc704\uce58\n    <\/div>\n\n    <p>\n      \uc774 Configuration\ub4e4\uc744 \ubaa8\uc740 \uacf5\uac04\uc774\n      Configuration Space, C-Space\uc774\ub2e4.\n    <\/p>\n\n    <div class=\"memory\">\n      <strong>\n        \uc2e4\uc81c Workspace\uc758 \ubcf5\uc7a1\ud55c Robot \ud615\uc0c1\uc744\n        C-Space\uc5d0\uc11c\ub294 \ud55c \uc810\uc73c\ub85c \ud45c\ud604\ud558\uc5ec\n        \uacbd\ub85c\uacc4\ud68d \ubb38\uc81c\ub97c \ub2e8\uc21c\ud654\ud55c\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>51. Motion Planning\uc758 \uc870\uac74<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc6d0\ubcf8\uc5d0\ub294 \uacbd\ub85c\uacc4\ud68d\uc758 \uc870\uac74\uc73c\ub85c\n      \ub2e4\uc74c \ud56d\ubaa9\uc774 \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <ul>\n      <li>Accessibility<\/li>\n      <li>Repeatability<\/li>\n      <li>Connectivity<\/li>\n    <\/ul>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>52. Accessibility<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Start \uc0c1\ud0dc\uc5d0\uc11c\n      Goal \uc0c1\ud0dc\uae4c\uc9c0 \uc2e4\uc81c\ub85c \uacbd\ub85c\uac00 \uc874\uc7ac\ud558\ub294\uac00\ub97c\n      \ud655\uc778\ud558\ub294 \uac1c\ub150\uc73c\ub85c \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>53. Repeatability<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uacbd\ub85c\ub97c \ubc18\ubcf5\uc801\uc73c\ub85c \uc218\ud589\ud560 \uc218 \uc788\ub294\uac00\uc640 \uad00\ub828\ub41c\n      \ud56d\ubaa9\uc73c\ub85c \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>54. Connectivity<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Start\uc640 Goal\uc774\n      \uc5f0\uacb0\ub41c \uacf5\uac04\uc5d0 \uc874\uc7ac\ud558\ub294\uc9c0\ub97c \ud655\uc778\ud558\ub294 \uac1c\ub150\uc774\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>55. Visibility Graph<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc7a5\uc560\ubb3c\uc758 \uaf2d\uc9d3\uc810\uc744 Node\ub85c \ub450\uace0\n      \uc11c\ub85c \uc9c1\uc811 \uc5f0\uacb0 \uac00\ub2a5\ud55c \uacbd\uc6b0\ub97c Edge\ub85c \uc5f0\uacb0\ud558\uc5ec\n      Graph\ub97c \ub9cc\ub4dc\ub294 \ubc29\ubc95\uc774 \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Obstacle Vertex\n      \u2192\n      Node\n      \u2192\n      Visible Connection\n      \u2192\n      Edge\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>56. Reduced Visibility Graph<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ubd88\ud544\uc694\ud55c Edge\ub97c \uc81c\uac70\ud558\uc5ec\n      Visibility Graph\ub97c \ub2e8\uc21c\ud654\ud558\ub294 \ubc29\ubc95\uc744\n      \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>57. Voronoi Diagram<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Motion Planning\uc758 \ubc29\ubc95\uc73c\ub85c\n      Voronoi Diagram\ub3c4 \ud568\uaed8 \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>58. Cell Decomposition<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Free Space\ub97c \uc5ec\ub7ec Cell\ub85c \ub098\ub204\uace0\n      Cell \uac04 \uc5f0\uacb0\uad00\uacc4\ub97c Graph\ub85c \ub9cc\ub4e4\uc5b4\n      \uacbd\ub85c\ub97c \uacc4\uc0b0\ud558\ub294 \ubc29\uc2dd\uc774\ub2e4.\n    <\/p>\n\n    <pre>\n      Free Space\n          \u2502\n          \u25bc\n       Cell \ubd84\ud560\n          \u2502\n          \u25bc\n      Adjacency Graph\n          \u2502\n          \u25bc\n       Path Search\n    <\/pre>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>59. Sampling-Based Algorithm<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uace0\ucc28\uc6d0 \uacf5\uac04\uc5d0\uc11c\ub294 Free Space\ub97c\n      \ubaa8\ub450 \uacc4\uc0b0\ud558\uae30 \uc5b4\ub835\uae30 \ub54c\ubb38\uc5d0\n      \uc77c\ubd80 \uc0c1\ud0dc\ub97c Sampling\ud558\uc5ec\n      \uacbd\ub85c\ub97c \ucc3e\ub294 \ubc29\ubc95\uc744 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      High-Dimensional C-Space\n      \u2192\n      Random Sampling\n      \u2192\n      Path Search\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>60. PRM<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      PRM\uc740 \uc6d0\ubcf8\uc5d0\uc11c\n      Probabilistic Roadmap\uc73c\ub85c \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      PRM\n      =\n      Probabilistic Roadmap\n    <\/div>\n\n    <p>\n      Collision-Free Sample\uc744 \ub9cc\ub4e4\uace0\n      Sample \uc0ac\uc774\ub97c \uc5f0\uacb0\ud558\uc5ec\n      Roadmap Graph\ub97c \uad6c\uc131\ud55c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>61. PRM Learning Phase<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Learning Phase\uc5d0\uc11c\ub294\n      \ucda9\ub3cc\ud558\uc9c0 \uc54a\ub294 Configuration\uc744 Sampling\ud55c\ub2e4.\n    <\/p>\n\n    <p>\n      \uac00\uae4c\uc6b4 Node\ub4e4\uc744 \uc5f0\uacb0\ud558\uace0,\n      \uc5f0\uacb0\uad6c\uac04\uc774 Collision-Free\uc778\uc9c0 \uac80\uc0ac\ud558\uc5ec\n      Graph\ub97c \uc0dd\uc131\ud55c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>62. PRM Query Phase<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Query Phase\uc5d0\uc11c\ub294\n      Start\uc640 Goal\uc744 Roadmap\uc5d0 \uc5f0\uacb0\ud55c \ub4a4\n      Graph Search\ub85c \uacbd\ub85c\ub97c \ucc3e\ub294\ub2e4.\n    <\/p>\n\n    <pre>\n      Start\n        \u2502\n        \u25bc\n      Roadmap Graph\n        \u2502\n        \u25bc\n      Graph Search\n        \u2502\n        \u25bc\n       Goal\n    <\/pre>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>63. RRT<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      RRT\ub294 \uc6d0\ubcf8\uc5d0\uc11c \ub2e4\uc74c\uc73c\ub85c \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      RRT\n      =\n      Rapidly Exploring Random Tree\n    <\/div>\n\n    <p>\n      Random Node\ub97c \uc0dd\uc131\ud558\uace0\n      \uae30\uc874 Tree\uc5d0\uc11c \uac00\uae4c\uc6b4 Node\ub97c \ucc3e\uc740 \ub4a4\n      \uc77c\uc815 Step Size\ub9cc\ud07c Tree\ub97c \ud655\uc7a5\ud55c\ub2e4.\n    <\/p>\n\n    <pre>\n      Start Node\n          \u2502\n          \u25bc\n      Random Sample\n          \u2502\n          \u25bc\n      Nearest Node\n          \u2502\n          \u25bc\n      Step Size\n          \u2502\n          \u25bc\n      Tree Expansion\n    <\/pre>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>64. PRM\uacfc RRT<\/h2>\n\n  <div class=\"table-wrap\">\n\n    <table>\n\n      <thead>\n        <tr>\n          <th>\ubc29\ubc95<\/th>\n          <th>NeoStudio \ub0b4\uc6a9<\/th>\n        <\/tr>\n      <\/thead>\n\n      <tbody>\n\n        <tr>\n          <td><strong>PRM<\/strong><\/td>\n          <td>Sampling\uc73c\ub85c Roadmap Graph\ub97c \uad6c\uc131 \ud6c4 Query \uc218\ud589<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>RRT<\/strong><\/td>\n          <td>Start\uc5d0\uc11c Random Tree\ub97c \ube60\ub974\uac8c \ud655\uc7a5<\/td>\n        <\/tr>\n\n      <\/tbody>\n\n    <\/table>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>65. Robot Vision<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ub450 \ubc88\uc9f8 NeoStudio PDF \ub9c8\uc9c0\ub9c9 \ud398\uc774\uc9c0\uc5d0\uc11c\ub294\n      Robot Perception \uc911 Vision\uc744 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <p>\n      \uc0ac\uc6a9 Sensor\uc758 \uc608\ub294 \ub2e4\uc74c\uacfc \uac19\ub2e4.\n    <\/p>\n\n    <ul>\n      <li>Camera<\/li>\n      <li>LiDAR<\/li>\n      <li>Encoder<\/li>\n    <\/ul>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>66. Encoder<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Encoder\ub294 Base Frame\uc744 \uae30\uc900\uc73c\ub85c\n      Joint \uc704\uce58\ub97c \uacc4\uc0b0\ud558\uc5ec\n      End-Effector \uc704\uce58\ub97c \ud30c\uc545\ud558\ub294 \ubc29\ud5a5\uc73c\ub85c \uae30\ub85d\ub418\uc5b4 \uc788\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>67. Camera Image Processing<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Camera \uc601\uc0c1\uc740 \uc815\ubcf4\ub7c9\uc774 \ub9ce\uae30 \ub54c\ubb38\uc5d0\n      \uacc4\uc0b0\ub7c9\uc744 \uc904\uc774\uae30 \uc704\ud55c \ucc98\ub9ac\uacfc\uc815\uc774 \ud544\uc694\ud558\ub2e4\uace0 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <ul>\n      <li>Feature Extraction<\/li>\n      <li>Recognition<\/li>\n    <\/ul>\n\n    <div class=\"formula\">\n      Image\n      \u2192\n      Feature Extraction\n      \u2192\n      Recognition\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>68. \uc804\uccb4 \uad00\uacc4<\/h2>\n\n  <div class=\"card\">\n\n    <pre>\n                        Robot\n                          \u2502\n            \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u253c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510\n            \u25bc             \u25bc             \u25bc\n        Mechanism       Sensor       Controller\n            \u2502             \u2502             \u2502\n      Link + Joint     Perception       \u2502\n            \u2502             \u2502             \u2502\n            \u25bc             \u25bc             \u25bc\n          DOF       State Estimation   Actuator\n            \u2502         Bayes\/Kalman      \u2502\n            \u25bc             \u2502             \u25bc\n        Workspace         \u2502        End-Effector\n            \u2502             \u2502\n            \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u252c\u2500\u2500\u2500\u2500\u2500\u2518\n                    \u25bc\n              Motion Planning\n                    \u2502\n           \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u253c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510\n           \u25bc        \u25bc        \u25bc\n          Bug      C-Space   Sampling\n                    \u2502        Based\n                    \u2502          \u2502\n                    \u2502      \u250c\u2500\u2500\u2500\u2534\u2500\u2500\u2500\u2510\n                    \u2502      \u25bc       \u25bc\n                    \u2502     PRM     RRT\n                    \u2502\n                    \u25bc\n              Path \/ Trajectory\n                    \u2502\n                    \u25bc\n              Motion Profile\n                    \u2502\n                    \u25bc\n                 Control\n    <\/pre>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>69. \uc774\ubbf8\uc9c0 \u00b7 NeoStudio \ud575\uc2ec \uc815\ub9ac<\/h2>\n\n  <div class=\"table-wrap\">\n\n    <table>\n\n      <thead>\n        <tr>\n          <th>\ud56d\ubaa9<\/th>\n          <th>\uc6d0\ubcf8 \ub0b4\uc6a9<\/th>\n        <\/tr>\n      <\/thead>\n\n      <tbody>\n\n        <tr>\n          <td><strong>Robot \uad6c\uc870<\/strong><\/td>\n          <td>Manipulator, Controller, Actuator, End-Effector, Sensor, Processor, Software<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Robot \ud615\uc2dd<\/strong><\/td>\n          <td>Cartesian, Cylindrical, Spherical, SCARA, Articulated<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Joint<\/strong><\/td>\n          <td>Revolute, Prismatic, Helical, Cylindrical, Universal<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\uac15\uccb4 \uc790\uc720\ub3c4<\/strong><\/td>\n          <td>3 Translation + 3 Rotation = 6 DOF<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Workspace<\/strong><\/td>\n          <td>End-Effector\uac00 \uae30\uad6c\uc801\uc73c\ub85c \ub3c4\ub2ec\ud560 \uc218 \uc788\ub294 \uacf5\uac04<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\uc88c\ud45c\ubcc0\ud658<\/strong><\/td>\n          <td>Rotation Matrix, Homogeneous Transformation<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Robot Intelligence<\/strong><\/td>\n          <td>Perception + Motion Planning<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>State Estimation<\/strong><\/td>\n          <td>Bayes Filter, Kalman Filter<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Path<\/strong><\/td>\n          <td>\uc2dc\uac04\uc815\ubcf4\uac00 \uc5c6\ub294 \uacf5\uac04\uc0c1\uc758 \uacbd\ub85c<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Trajectory<\/strong><\/td>\n          <td>Path + \uc2dc\uac04 \u00b7 \uc18d\ub3c4 \u00b7 \uac00\uc18d\ub3c4<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>C-Space<\/strong><\/td>\n          <td>Robot\uc758 \ubaa8\ub4e0 Configuration\uc744 \ud45c\ud604\ud558\ub294 \uacf5\uac04<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\uc804\ud1b5\uc801 \uacbd\ub85c\uacc4\ud68d<\/strong><\/td>\n          <td>Bug, Artificial Potential, Visibility, Cell Decomposition<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Sampling Based<\/strong><\/td>\n          <td>PRM, RRT<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Vision<\/strong><\/td>\n          <td>Camera \u2192 Feature Extraction \u2192 Recognition<\/td>\n        <\/tr>\n\n      <\/tbody>\n\n    <\/table>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <div class=\"warning\">\n    <strong>\n      \uc774 HTML\uc740 \ud398\uc774\uc9c0 \ubcf8\ubb38,\n      K-MOOC \uac15\uc758 \ubcf8\ubb38,\n      YouTube \ubc0f \uc678\ubd80 Motion Profile PDF\ub97c \uc0ac\uc6a9\ud558\uc9c0 \uc54a\uace0,\n      \uc77c\ubc18 \uc774\ubbf8\uc9c0 1\uc7a5\uacfc NeoStudio PDF 2\uac1c\ub9cc\n      \uc2dc\uac01 \ud310\ub3c5\ud558\uc5ec \uc791\uc131\ud588\ub2e4.\n\n      NeoStudio PDF\ub294 \uac01\uac01 20\ud398\uc774\uc9c0\uc640 3\ud398\uc774\uc9c0\uc774\ub2e4.\n\n      \uccab \ubc88\uc9f8 NeoStudio PDF\uc758 20\ud398\uc774\uc9c0 \uc911\n      \ud398\uc774\uc9c0 1\uacfc \ud398\uc774\uc9c0 19\ub294 PDF \ub80c\ub354\ub7ec\uac00 \ubc18\ubcf5\uc801\uc73c\ub85c\n      Timeout\ub418\uc5b4 \uc9c1\uc811 \ud310\ub3c5\ud558\uc9c0 \ubabb\ud588\ub2e4.\n      \ub530\ub77c\uc11c \ud574\ub2f9 \ub450 \ud398\uc774\uc9c0 \ub0b4\uc6a9\uc740 \ucd94\uc815\ud558\uac70\ub098\n      \uc678\ubd80 \uc790\ub8cc\ub85c \ubcf4\uc644\ud558\uc9c0 \uc54a\uc558\ub2e4.\n\n      \ub098\uba38\uc9c0 \uccab \ubc88\uc9f8 PDF 18\ud398\uc774\uc9c0\uc640\n      \ub450 \ubc88\uc9f8 PDF 3\ud398\uc774\uc9c0\ub294 \uc9c1\uc811 \ud655\uc778\ud558\uc600\ub2e4.\n\n      \ub450 \ubc88\uc9f8 PDF\uc758 \uc55e\ubd80\ubd84\uc740\n      \uccab \ubc88\uc9f8 PDF \ud6c4\ubc18\ubd80\uc758\n      Cell Decomposition, PRM, RRT \ub0b4\uc6a9\uc744 \uc77c\ubd80 \ubc18\ubcf5\ud55c\ub2e4.\n\n      \ud398\uc774\uc9c0\uc5d0 \uc5f0\uacb0\ub41c\n      &#8216;Design of a Motion Profile \u2013 Part A~D&#8217;\ub294\n      NeoStudio\uac00 \uc544\ub2cc \uc678\ubd80 \ucc38\uace0 PDF\uc774\ubbc0\ub85c \uc81c\uc678\ud558\uc600\ub2e4.\n\n      DH Parameter,\n      Jacobian,\n      Inverse Kinematics,\n      SLAM \ub4f1\uc758 \uc77c\ubc18 \ub85c\ubd07\uacf5\ud559 \uc774\ub860\uc740\n      \uc774\ubc88 \ud310\ub3c5\uc790\ub8cc\uc5d0 \uba85\ud655\ud788 \uc804\uac1c\ub418\uc5b4 \uc788\uc9c0 \uc54a\uc544\n      \ucd94\uac00\ud558\uc9c0 \uc54a\uc558\ub2e4.\n    <\/strong>\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <div class=\"keywords\">\n    Robot,\n    Artificial Intelligence,\n    Cartesian Robot,\n    Cylindrical Robot,\n    Spherical Robot,\n    SCARA,\n    Articulated Robot,\n    Link,\n    Joint,\n    End-Effector,\n    DOF,\n    Workspace,\n    Rotation Matrix,\n    Homogeneous Transformation,\n    Perception,\n    Bayes Filter,\n    Kalman Filter,\n    Motion Planning,\n    Path,\n    Trajectory,\n    Joint Space,\n    Task Space,\n    Configuration Space,\n    C-Space,\n    Bug Algorithm,\n    Artificial Potential Function,\n    Visibility Graph,\n    Cell Decomposition,\n    PRM,\n    RRT,\n    Robot Vision\n  <\/div>\n\n<\/div>\n&#8220;`\n","protected":false},"excerpt":{"rendered":"<p>K-MOOC \ub85c\ubd07\uacf5\ud559\uacfc \uc778\uacf5\uc9c0\ub2a5 \uac15\uc758 \ub178\ud2b8 https:\/\/lms.kmooc.kr\/course\/view.php?id=3130 &#8220;`html \ub85c\ubd07\uacf5\ud559\uacfc \uc778\uacf5\uc9c0\ub2a5 Robot \u00b7 DOF \u00b7 Workspace \u00b7 Coordinate Transform \u00b7 Perception \u00b7 Motion Planning \u00b7 C-Space \u00b7 PRM \u00b7 RRT 1. \ub85c\ubd07\uc758 \uc885\ub958 NeoStudio\uc5d0\uc11c\ub294 \ub85c\ubd07\uc744 \ud06c\uac8c Hardware Robot\uacfc Software Robot\uc73c\ub85c \uad6c\ubd84\ud55c\ub2e4. Hardware Robot \uc778\uac04\ud615\ud0dc \uc778\uac04\uacfc Interface \uac00\ub2a5 \uc0b0\uc5c5\uc6a9 Robot Service Robot Software Robot \ub208\uc5d0 \ubcf4\uc774\uc9c0 \uc54a\ub294 \ud615\ud0dc [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_newsletter_access":"","_jetpack_dont_email_post_to_subs":false,"_jetpack_newsletter_tier_id":0,"_jetpack_memberships_contains_paywalled_content":false,"_jetpack_feature_clip_id":0,"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_post_was_ever_published":false},"categories":[1185],"tags":[970,1666,1512,1668,1670,1669,1665,1667,200],"class_list":["post-7760","post","type-post","status-publish","format-standard","hentry","category-1185","tag-ai","tag-c-space","tag-dof","tag-motion-planning","tag-motion-profile","tag-perception","tag-robot","tag-workspace","tag-200"],"jetpack_sharing_enabled":true,"jetpack_featured_media_url":"","_links":{"self":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/7760","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/comments?post=7760"}],"version-history":[{"count":5,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/7760\/revisions"}],"predecessor-version":[{"id":9674,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/7760\/revisions\/9674"}],"wp:attachment":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/media?parent=7760"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/categories?post=7760"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/tags?post=7760"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}