• Journal of the Korea Convergence Society
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• v.8 no.11
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• pp.49-56
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• 2017

Curling sweeping is one of important motion to control the position of the curling stone, and sweeping speed and applied force to the broom pad are major research subjects. In this study, a device was developed to measure the force applied to the curling broom pad in curling sweeping motion, and two load cells were mounted between the broom pad and pad holder. Analog signals generated from the load cells were sampled about 300 times per second using a micro controller, and then converted to 10-bit digital signals. Calibration of the load cell and set up of regression equations to convert the measured electrical signals into mass (force) was done by three M1 class weights, and the developed system was designed as wearable device to minimize increasing of total weight of the broom. Same force was applied to the developed system and a force plate that was using as a reference force measurement system in field of sports, and the difference between the measured values were showed about $0.909{\pm}1.375N$(mean and standard deviation). The developed system could be applied other kinds of study which required force measurement function similar to sweeping motion.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1995-1996
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• 2006

검출기 안내관은 노내 핵계측 계통의 중성자 분포 측정을 위한 이동형 검출기의 이동경로를 제공할 뿐만 아니라 원자로 냉각수 계통의 압력경계를 유지하는 안전성 등급의 중요한 설비이다. 그러나, 인출과 삽입을 위한 검출기 안내관 취급은 의외로 낙후되어 작업자의 인력에만 의존하고 있는 실정이며, 원자로 격납용기 내부에 위치한 고방사선 지역에서 작업이 수행되고 있는 실정이다. 따라서 노내 핵계측 계통의 검출기 안내관의 안정적인 관리를 위해 검출기 안내판을 일정한 힘으로 인출하고 삽입할 수 있는 자동화시스템의 개발이 이루어지고 있다. 전력연구원에서 개발한 안내관 취급기구는 롤러에 의해 안내관을 파지하고, DC 모터 구동에 의해 안내관을 인출하고 삽입하는데, 본 논문에서는 안내관 취급 기구의 제어 시스템 구성과, 롤러와 안내관 사이에 발생하는 슬립을 고려한 제어기 구조를 제안하고, 실험을 통해 구현한 제어 시스템의 효용성을 보인다.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.9
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• pp.87-94
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• 2000

In this paper we discuss the control scheme on cooperative control of two flexible manipulators working in 3D space. We propose a control scheme which consists of hybrid position/force control and vibration suppression control. Hybrid position/force control is extended from the scheme for two cooperating rigid manipulators to that for flexible ones. in addition to the control vibration suppression control based upon a lumped-mass-spring model of the flexible manipulators is applied. To illustrate the validity of the proposed control scheme we show experimental results. in the experiment a rigid object is handled by two cooperating flexible manipulators in 3D space.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.4
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• pp.449-455
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• 2011

In this paper, a time-delay problem of a tele-operated control system is investigated and compensated by neural network. The smith predictor requires an exact system model to deal with a time-delay in the system. To compensate for modeling errors in the configuration of the Smith predictor, a neural network approach is presented. Based on forming the Smith predictor structure, the radial basis function(RBF) neural network estimator is used. Simulation and experimental studies are conducted to show the functionality of the proposed method.

• Proceedings of the KIPE Conference
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• 1997.07a
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• pp.449-453
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• 1997

이 논문은 초음파모터를 이용한 직접구동방식의 전완로봇 개발에 관해서 논하였다. 기어 감속 없이 느린 동작하에서 큰 힘을 제공하기 위해 진행파형 초음파모터를 액츄에이터로 사용하였다. 이 시스템에서는 환경과의 상호작용력에 의한 힘 피드백 제어는 사용하지 않고, 위치 정보만을 사용하였다. 크랭크 회전같은 접촉작업과 핑거의 협력작업에 대한 실험을 고찰하였다.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.19 no.10
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• pp.1043-1052
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• 2009

In this work, a master-slave manipulator system which will be used for handling objects contaminated by radioactivity has been addressed. The links of manipulators are driven independently by individual motors installed on the base and the driving torque is transmitted through pre-tensioned tendons. Since the measurable variables are the positions and rates of master/slave motors, only a constrained specific bilateral control structure is available. In the consideration of the flexibility of the tendon and constrained control structure, we derived a necessity for tendon design to prevent uncontrollable vibration mode through a modal analysis. Based on a reduced rigid body model, a control design was suggested and tendons were selected. The feasibility of the proposed analysis and tendon design were verified along with some simulation results.

• Proceedings of the KIPE Conference
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• 2010.07a
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• pp.538-539
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• 2010

자기 베어링 시스템은 축과 베어링간의 자기적 힘을 이용하여 축을 비접촉으로 지지함으로써 고속으로 회전하는 회전체의 마찰손을 저감시킨다. 고속 회전체에 편심(Eccentricity)이 있을 경우 편심 질량으로 인한 원심력이 속도의 제곱에 비례하여 발생하게 되고, 축을 지지하고 있는 베어링에 과도한 진동을 유발하게 된다. 베어링에 전해지는 진동이 커지게 되면 진동 자체도 문제일 뿐 아니라 베어링이 부담해야 하는 힘의 크기가 커지게 되어 자기 베어링 및 이를 구동하는 전력전자 기기의 용량을 증가시켜야 하는 문제가 있다. 본 논문에서는 베어링의 지지력을 능동적으로 제어하는 능동 자기 베어링을 사용하여 축의 편심 질량의 크기 및 편심 위치를 파악하고 회전 관성 중심점으로 축을 회전시킴으로써 회전 진동을 저감하는 방법을 제안하고, 실험 결과로써 제안된 방법의 타당성을 검증한다.

• Journal of the Korean Ceramic Society
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• v.40 no.10
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• pp.981-984
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• 2003

A novel linear ultrasonic motor for precision position control was designed and fabricated. It was composed of two piezoelectric actuators with longitudinal ultrasonic fluctuations and shaking beam. When two AC electric fields (Usinwt, Ucoswt) were applied to piezoelectric actuators respectively, the middle part of shaking beam had an elliptical trajectory. According to experimental results, the generative force was proportional to pre-load force but the speed of slider was in inverse proportion. And the bar of shaking beam had a same trajectory with simulation result.

• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.408-410
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• 1992

An adaptive hybrid position/force controller for constrained manipulator with uncertain dynamic model parameters and environment stiffness is presented. In this paper, the compliance frame model is constructed by independent positions and forces to be controlled. The adaptive controller based on this compliance frame dynamic model is designed. Lyapunov theory is used for controller design and Stability analysis.

• Proceedings of the IEEK Conference
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• 2002.06e
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• pp.157-160
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• 2002

When the teleoperation system has a signal transmission time delay between slave system and control system, the position tracking performance of the slave system and system stability are likely to be deteriorated. This paper proposes a force reflecting position control scheme for teleoperation system with signal transmission time delay. The proposed scheme not only satisfy the system internal stability but also improves the position tracking performance with disturbance rejection capability. The simulation results show that the proposed control method provides excellent performances.