• 제어로봇시스템학회논문지
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• 제14권4호
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• pp.406-410
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• 2008

This paper presents a new robot calibration algorithm with joint stiffness parameters for the enhanced positioning accuracy of industrial robot manipulators. This work is towards on-going development of an industrial robot calibration software which is able to identify both the kinematic and non-kinematic robot parameters. In this paper, the conventional kinematic calibration and its important considerations are briefly described first. Then, a new robot calibration algorithm which simultaneously identifies both the kinematic and joint stiffness parameters is presented and explained through a computer simulation with a 2 DOF manipulator. Finally, the developed algorithm is implemented to Hyundai HX165 robot and its resulting improvement of the positioning accuracy is addressed.

• 대한기계학회논문집A
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• 제29권4호
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• pp.578-583
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• 2005

This paper introduces a fast Fourier transform (FFT)-based spectral dynamic analysis method for the transient responses as well as the steady-state responses of the linear discrete systems subject to non-zero initial conditions. The forced vibration of a viscously damped three-DOF system is considered as the illustrative numerical example. The proposed spectral analysis method is evaluated by comparing its results with the exact analytical solutions and the numerical solutions obtained by the Runge-Kutta method.

• 대한기계학회논문집A
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• 제28권7호
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• pp.904-914
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• 2004

In this paper, input-output velocity and force transmission characteristics of the Casing Oscillator which is a construction machine with 4 degrees of freedom are examined. After the Jacobian matrix is decomposed into the linear part and angular part, the velocity and force transmission characteristics for the linear and angular workspace are easily analyzed and visualized even if the Casing Oscillator has the spatial dimensional workspace with 4 DOF. Regarding the manipulability measure of the Casing Oscillator, the kinematic isotropic index and the manipulability measure which represent the isotropy and volume of the manipulability ellipsoid, respectively, are combined to coincidently consider them with respect to equivalent ranges and fluctuations. A performance of the Casing Oscillator is evaluated by the newly proposed manipulability measures.

• 소음진동
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• 제10권4호
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• pp.584-595
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• 2000

We design a new actuator for high density optical device in order to control the radial tilting motion. The newly designed actuator makes it possible to control the tilting motion actively, while the coventional actuator compress tilting motion with passive spring. First of all, We present 3-dimensional modeling of actuator and accomplish the modal analysis and magnetic analysis of actuator. Due to these results, a new designed actuator has performance of high sensitivity and high second resonance frequency. Secondly, We present the 3-DOF dynamic modeling of the 4-wire spring type actuator. sensitivity analysis is performed to consider the assembling error, such as the difference of mass center and force center. From these results, the sensitivities of rotation due to the assembly error are revealed and design criteria of rotation is presented. And experimental results of a newly designed actuator are presented and compared with theoretical results. Finally, We propose a dynamic tilt compensation and high acceleration actuator for high density optical storage devices.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문초록집
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• pp.331.1-331
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• 2002

Four degrees of freedom mathematical model is presented to describe the fundamental mechanisms of the disc brake squeal noise. A contact parameter is introduced to describe the coupling between the in-plane and the out-of-plane motions. The friction coeficient including "relative velocity" and ′normal force" can be generally formulated as the form of multiplication with polynominal parameters(${\beta}$, ${\gamma}$). (omitted)

• 제어로봇시스템학회논문지
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• 제4권4호
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• pp.479-486
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• 1998

In this paper, the design and the implementation of a robust adaptive controller for trajectory tracking of robot manipulator is presented. The proposed control scheme ensures that tracking errors are converged to some boundaries in the presence of a state-dependent input disturbances as well as the ideal case without any prior knowledge of the robot manipulator parameters. The 3 DOF robot manipulator including actuator dynamics is used for the implementation of the proposed control scheme. The experimental results show that the proposed control scheme is valid for trajectory tracking of the robot manipulator.

• Transactions on Control, Automation and Systems Engineering
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• 제4권4호
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• pp.347-355
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• 2002

Obstacle avoidance of underactuated robot manipulators using switching computed torque method (SCTM) is presented. One fundamental feature of this novel method is to use partly stable controllers (PSCs) in order to fulfill the ultimate control objective. Here, we use genetic algorithms (GAs) to acquire the optimum switching sequence of the control actions for a given time frame with the available set of elemental controllers, depending on which links/variables are controlled. The effectiveness of the concept is illustrated by taking a three-degrees-of-freedom (DOF) manipulator and showing enhanced performance of the proposed control methodology.

• 한국자동차공학회논문집
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• 제4권4호
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• pp.38-45
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• 1996

Power steering systems play an important role for the vehicle handling characteristics and driver's steering center feeling during straightforward driving situation. In this paper, the rotary valve, the main component of power steering systems, is modeled and analyzed, and is combined with a 3-DOF(degree of freedom) lateral dynamics model of passenger cars to examine the effects of design parameters on the vehicle steering characteristics. The results can be applied to the development of advanced power steering systems for passenger cars such as electronically-con-trolled power steering system.

• 한국생산제조학회지
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• 제18권4호
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• pp.423-429
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• 2009

The motion base to a film used in 4D cinema theaters or theme parks is different depending on the operator's control or hardware system and this causes inefficiency in management of the theater. There are several different simulation software on the present market, but these are difficult for an animation producer to use them. This study introduces the idea in which a film producer simulates the movement of the motion base by using computer graphic animation tools mostly adopted by production for creating 3D animation and motion control data. Maya and 3D Cross were used to show the path of a motion camera visually. Attitude and axis control data were extracted from the movement of the virtual motion base and were used to control a prototype of the motion base. As a result, the motion control data from computer graphic animation tools can be created so that a film producer can create standard motion control data independently regardless of the hardware and operator's skill.

• 로봇학회논문지
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• 제11권4호
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• pp.242-247
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• 2016

A robot manipulator handling a heavy weight requires high-capacity motors and speed reducers, which increases the cost of a robot and the risk of injury when a human worker is in collaboration with a robot. To cope with this problem, we propose a collaborative manipulator equipped with a counterbalance mechanism which compensates mechanically for a gravitational torque due to the robot mass. The prototype of the manipulator was designed on the basis of a four-bar linkage structure which contains active and passive pitch joints. Experimental performance evaluation shows that the proposed robot works effectively as a collaborative robot.