• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
• /
• pp.844-849
• /
• 1991

A high speed control system for a telerobot using DSP is developed. The system is designed to resolve computational burden in advanced algorithms. The design is assumed to h ave no specific algorithm and robot configuration. The system is composed of a teaching box, a DSP board, a set of servo drivers and 16 bit microcomputer system. The teaching box is designed as a man-machine interface, which has two joysticks with three degrees of freedom for velocity generation in Cartesian space. The DSP board, i.e. DSP56000ADS based on a 10.25MIPS digital signal processor, DSP56001, computes the inverse Jacobian matrix which transforms Cartesian velocity into joint velocity. A resolved motion rate control algorithm for a 5 degrees of freedom manipulator was implemented. About 100 Hz sampling rate was achieved in this system.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1992년도 춘계학술대회 논문집
• /
• pp.369-373
• /
• 1992

Force control of a planar two-link structurally flexible robotic manipulator is considered in this study. The dynamic model is obtained by using the extended Hamilton's principle and the Galerkin criterion. A method is pressented toobtain the linearized equations of motion in Cartesian space for use in designing the control system. The approachto solving the control problem is to use feedforward and feedback control torques. The feedforward torques maneuver the flexible manipulatro along a nominal trajectory and the feedback torques minimize any deviations from the nominal trajectory. The linear quadratic Gaussian/loop transfer recovery (LQG/LTR) design methodology is explotied to design a robust feedback control system that can handle modeling errors and sensor noise, and operates on Cartesian space trajectory errors. The Lqg/LTR compenstaor together with a feedforward ollp is used to control the flexible manipulator. Simulated results are presented for a numerical example.

• 대한기계학회논문집A
• /
• 제24권7호
• /
• pp.1826-1832
• /
• 2000

A modelling method for the bending vibration analysis of rotating cantilever beams employing finite element method is presented in this paper. Different from the conventional modelling method in wh ich only Cartesian deformation variables are used, a non-Cartesian deformation variable is introduced and approximated to derive the equations of motion. Numerical results obtained by using the presented modelling method are compared to those obtained by using other methods in the related literature, and the accuracy of the presented method is verified through the comparison study. The presented modelling method is superior to other previous methods in a sense that several advantages of the previous methods are incorporated into the presented method.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2003년도 추계학술대회
• /
• pp.1724-1729
• /
• 2003

Two different subsystem synthesis methods with independent generalized coordinates have been developed and compared. In each formulation, the subsystem equations of motion are generated in terms of independent generalized coordinates. The first formulation is based on the relative Cartesian coordinates with respect to moving subsystem base (virtual) body. The second formulation is based on the relative joint coordinates using recursive formulation. Computational efficiency of the formulations has been compared theoretically by the operational counting method.

• International Journal of Control, Automation, and Systems
• /
• 제4권3호
• /
• pp.318-324
• /
• 2006

The mobile manipulator is expected to work in partially defined or unstructured environments. In our global/local approach to path planning, joint trajectories are generated for a desired Cartesian space path, designed by the global path planner. For a local path planner, inverse kinematics for a redundant system is used. Joint displacement limit for the manipulator links is considered in the motion planner. In an event of failure to obtain feasible trajectories, the task cannot be accomplished. At the point of failure, a deviation in the Cartesian space path is obtained and a replanner gives a new path that would achieve the goal position. To calculate the deviation, a nonlinear optimization problem is formulated and solved by standard Sequential Quadratic Programming (SQP) method.

• 한국소음진동공학회논문집
• /
• 제12권12호
• /
• pp.970-978
• /
• 2002

이제까지 아치의 자유진동에 관한 연구들은 모두 극좌표계에서 해석한 연구들이다. 이 논문은 극좌표계에서 아치의 해석을 지양하고, 직교좌표계에서 아치의 자유진동을 해석한 연구이다. 아치의 자유진동을 지배하는 미분방정식을 직교좌표계에서 유도하고. 이를 수치해석하여 고유진동수와와 진동형을 산출하였다. 미분방정식에는 회전관성 효과를 고려하고. 아치의 선형은 포물선으로 채택하였다. 실제 구조물에 대한 적용을 위하여 비대칭 축을 갖는 아치를 수치해석 하였다. 본 연구와 SAP 2000의 결과를 비교하여 본 연구의 타당성을 검증하였다. 수치해석의 결과로 아치의 무차원 변수들이 무차원 고유진동수에 미치는 영향을 분석하고. 전형적인 진동형의 예를 그림에 나타내었다.

• 대한기계학회논문집
• /
• 제19권6호
• /
• pp.1363-1370
• /
• 1995

A nonlinear dynamic modeling method for simply supported structures undergoing large overall motion is suggested. The modeling method employs Rayleigh-Ritz mode technique and Von Karman nonlinear strain measures. Numerical study shows that the suggested modeling method provides qualitatively different results from those of the Classical Linear Cartesian modeling method. Especially, natural frequency variations and residual deformation due to membrane strain effects are observed in the numerical results obtained by the suggested modeling method.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2005년도 춘계학술대회 논문집
• /
• pp.1579-1582
• /
• 2005

Polishing is cutting process that polished workpiece by relative motion of abrasive grain between polishing tool and workpiece. According to relative motion forms(polishing patterns) of abrasive grain, the surface quality is different. Then, polishing patterns are important essential in polishing process. In work field, polishing patterns are determined by an expert of experience. Therefore, to work effective polishing, it is necessary that evaluate polishing characteristics for polishing patterns. And, polishing machine is made with cartesian coordinate robots, we estimate polishing characteristics by measurement of surface roughness.

• 대한전자공학회논문지
• /
• 제26권11호
• /
• pp.1770-1781
• /
• 1989

Two robots working in a common workspace may collide with each other. In this paper, a collision-free motion planning algorithm using view time concept is proposed to detect and avoid collision before robot motion. Collision may occur not only at the robot end effector but also at robot links. To detect and avoid potential collisions, the trajectory of the first robot is sampled periodically at every view time and the region in Cartesian space swept by the first robot is viewed as an obstacle during a single sampling period. The forbidden region in the joint constraint map (JCM). The JCM's are obtained in this way at every view time. An algorithm is established for collision-free motion planning of the two robot system from the sequence of JCM's and it is verified by simulations.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
• /
• pp.1040-1045
• /
• 1991

An approach to time-varying obstacle avoidance problem is pursued. The mathematical formulation of the problem is given in Cartesian space and in joint space. To deal with the time-varying obstacles, view-time is introduced. A view-time is the time interval viewing the time-varying obstacles to model equivalent stationary obstacles. For the analysis of the properties of the view-time, avoidability measure is defined as a measure of easiness for a robot to avoid obstacles. Based on the properties, a motion planning strategy to avoid time-varying obstacles is derived. An application of the strategy to the collision-free motion planning of two SCARA robots and the simulation on the application are given.