• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.51.2-51
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• 2002

$\textbullet$ Introduction $\textbullet$ Simulator Architecture $\textbullet$ Navigation and Collision Detection $\textbullet$ Deformable Model and Force Reflection $\textbullet$ 4-DOF Haptic Device $\textbullet$ Conclusion

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.8
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• pp.977-989
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• 1999

The purpose of this study is to analyze how the human body having more muscles than its degree-of-freedom modulates an effective stiffness using redundant actuation, and to apply this concept to the design and control of advanced machines which requires adaptable spring. To investigate the adaptable stiffness phenomenon due to redundant actuation in the human body, this paper derives a general stiffness model of the Human body. In particular, for a planar 1 DOF human arm model, a planar 2 DOF human arm model, a spherical 3 DOF shoulder model, a 4 DOF human arm model, and a 7 DOF human arm model, the required nonlinear geometry ad the number of required actuator for successful modulation of the effective stiffness are analyzed along with a load distribution method for modulation of the required stiffness of such systems. Secondly, the concept of motion frequency modulation is introduced to show the usefulness of adaptive stiffness modulation. The motion frequency modulation represents a control of stiffness and / or inertia properties of systems. To show the effectiveness of the proposed algorithm, simulations are performed for 2 DOF anthropomorphic robot.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.217-220
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• 1996

In this paper, a fully geometrical method for the determination of the workspace of a 6-DOF parallel manipulator is presented using the concept of 4-bar linkage. The reachable and dexterous can be determined from the proposed algorithm. In order to evaluate the workspace, each leg is considered as an open chain, and two kinematic constraints are developed. The proposed method is verified by simulation.

• Korean Journal of Computational Design and Engineering
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• v.3 no.1
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• pp.40-47
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• 1998

Recently, the various driving simulator have been used widely to analyze the handling performance of vehicle and to verify the motion control algorithm of vehicle. In this study, a virtual driving simulator based on the 20-DOF vehicle model is realized to estimate the handling performance and stability of a 4WS (Four-wheel-steering) and/or 4n(Four-wheel-driving) vehicle. Especially the DC motor controlled 4WS actuator is modelled in order to reflect the effect of the responsiveness of actuator on the handling performance and stability. And the realized simulator can be applied to develope a real time simulation system for designing and testing the real vehicles.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.1
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• pp.37-44
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• 2018

In this work, a 4-DOF industrial robot system with three translational and one rotational motions which is widely used in palletizing applications is developed. In order for small robot manufacturing companies to develop their own robot systems for CNC machining and/or general automations, the analysis and design methods of a 4-DOF robot manipulator are presented and the development of a PC-based robot controller with EtherCAT are introduced. It is noted that the robot controller is developed by using Simulink Real-Time, which can provide an integrated environment of easier control algorithm development and data logging. Through position control and accuracy/repeatability measurement results, the developed robot prototype has comparable performances with commercial counterparts. In the future works, the advanced functions of industrial robots such as kinematic calibration, vibration suppression control, computed torque control, etc. will be investigated.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2009.04a
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• pp.593-598
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• 2009

In this study we present results for the design of ground test system for 4 degree of freedom(DOF) control test is one of the smart UAV ground test. This system is equipped with real smart UAV and Z direction DOF and 3 direction rotation DOF, Ensuring safe operation of the Smart UAV is a top priority. To this end, it is required to do structure analysis and test verification to confirm the design margin and safety. Based on the analysis, the ground test system has been redesigned to meet the structural conditions.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.10a
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• pp.141-142
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• 2009

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2012.04a
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• pp.324-329
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• 2012

Isolation tables are widely used for precision equipments and their isolation performances have been usually expressed and evaluated by transsmissibility. However, transmissibility is a concept for 1-degree of freedom(DOF) system. In practice, isolation tables are supproted by more than 4 springs. Each spring is subjected to vertical and horizontal ground vibrations, and also the table has more than 1-DOF. Therefore, isolation tables should be treated as multi-input/multi-output(MIMO) system of which isolation performance is expressed by transmissibility matrix. However, the matrix is too complicated to be an index for a system. In this paper, maximum singular value of transmissibility matrx is suggested as a simple performance index of a MIMO isolation system. Physical meaning of singular value is explained using a simple a 2-DOF isolation table. Furthermore, maximum singular values of passive, 3-DOF active and 6-DOF active isolation tables are obtained through experiments, and their meaning are explained and compared with each other.

• Smart Structures and Systems
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• v.18 no.4
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• pp.801-818
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• 2016

To estimate structural displacement, a visually servoed paired structured light system (ViSP) was proposed in previous studies. The ViSP is composed of two sides facing each other, each with one or two laser pointers, a 2-DOF manipulator, a camera, and a screen. By calculating the positions of the laser beams projected onto the screens and rotation angles of the manipulators, relative 6-DOF displacement between two sides can be estimated. Although the performance of the system has been verified through various simulations and experimental tests, it has a limitation that the accuracy of the displacement measurement depends on the alignment of the laser pointers. In deriving the kinematic equation of the ViSP, the laser pointers were assumed to be installed perfectly normal to the same side screen. In reality, however, this is very difficult to achieve due to installation errors. In other words, the pose of laser pointers should be calibrated carefully before measuring the displacement. To calibrate the initial pose of the laser pointers, a specially designed jig device is made and employed. Experimental tests have been performed to validate the performance of the proposed calibration method and the results show that the estimated displacement with the initial pose calibration increases the accuracy of the 6-DOF displacement estimation.

• Structural Engineering and Mechanics
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• v.38 no.4
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• pp.405-416
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• 2011

An efficient two-level domain decomposition parallel algorithm is suggested to solve large-DOF structural problems with nonlinear material models generating unsymmetric tangent matrices, such as a group of plastic-damage material models. The parallel version of the stabilized bi-conjugate gradient method is developed to solve unsymmetric coarse problems iteratively. In the present approach the coarse DOF system is solved parallelly on each processor rather than the whole system equation to minimize the data communication between processors, which is appropriate to maintain the computing performance on a non-supercomputer level cluster system. The performance test results show that the suggested algorithm provides scalability on computing performance and an efficient approach to solve large-DOF nonlinear structural problems on a cluster system.