• Journal of the Korean Society of Manufacturing Process Engineers
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• v.7 no.1
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• pp.17-21
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• 2008

Recently developed automotive components are of lightweight nature, providing automobiles with a high fuel efficiency and performance. In response to those trends of car developments, this study proposes a structural optimization method for the lower control ann. Lightweight design of lower control am can be achieved through two approaches: design and material technology. In this research, the former includes optimization technology, and the latter the technologies for selecting aluminum as a steel-substitute material. In this research, the design of experiments(DOE) built in ANSYS WORKBENCH are utilized to determine the optimum shape of a Lower Control Arm. And optimum design is compared first model and reduced design variable model that considered sensitivity using orthogonal array.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.4
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• pp.452-460
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• 1999

Sawing experiments using a two-arm system have been performed in this work. The two-arm system under consideration of two kinematically-nonidentical arms. A passive joint is inserted at the end-point of one robot in order to increase the mobility up to the motion degree required for sawing tasks. A hybrid control algorithm for control of the two-arm system is designed. We experimentally show that the performance of the velocity and force response are satisfactory, and that one additional passive joint not only prevents the system from unwanted yaw motion in the sawing task, but also allows an unwanted pitch motion to be notably reduced by an internal load control. To show the general applicability of the proposed algorithms, we perform experimentation under several different conditions for saw, such as three saw blades, two sawing speeds, and two vertical forces.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.203-206
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• 1995

We investigate the applicability of the theory of robust stabilization with respect to additive, stable perturbations of a normalized left-coprime factorization to controller design of a flexible arm with uncertain parameters.

• International Journal of Control, Automation, and Systems
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• v.1 no.3
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• pp.263-270
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• 2003

This paper deals with a control technique of eliminating the transient vibration of a waist axis of an articulated robot. This technique is based on a model-based control in order to establish the damping effect on the mechanical part. The control model is related to the velocity control loop, and it is composed of reduced-order electrical and mechanical parts. Using this model, the velocity of the load is estimated, which is converted to the motor shaft. The difference between the estimated load speed and the motor speed is calculated dynamically, and it is added to the velocity command to suppress the transient vibration of a waist axis of the robot arm. The function of this technique is to increase the cut-off frequency of the system and the damping ratio at the driven machine part. This control model is easily obtained from design or experimental data and its algorithm can be easily installed in a DSP. This control technique is applied to a waist axis of an articulated robot composed of a harmonic drive gear reducer and a robot arm with 5 degrees of freedom. Simulations and experiments show satisfactory control results to reduce the transient vibration at the end-effector.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.577-582
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• 1989

This is a study of the translational end-point control of a single link flexible arm-with a tip mass. The beam is mounted on a translational mechanism driven by the ball screw, whose rotation is controlled by DC servomotor. The problem of shifting the end-point from its initial position to the commanded position is studied analytically both for the open-loop control subjected to some path functions and for the closed-loop control using the feedback of the tip information.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.1
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• pp.146-153
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• 1996

A SCARA type direct drive robot which can be used in the assembly operation was designed and manufactured. Graphite fiber epoxy composite material was used in the fabrication of the robot arm structure in order to improve the speed of the robot arm with a high damping effect. For model-based control and sensitivity analysis of system parameters, the dynamic model of robot arm and drive servo amplifier parameters such as equivalent gains of PWM driver and velocity gains of servo system were estimated from frequency response tests. The complete dynamic model for overall robot system was used in the simulation of the open-loop control. The simulation results agreed reasonably well to the experimental results. The feedforward control using the dynamic models improved the trajectory tracking performance, decreasing the tracking error by factor of three compared with PID control. This study found that the inverse dynamic model of the robot arm including the drive servo system showed better performances than the case of arm dynamic model only.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.11a
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• pp.543-544
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• 2008

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2007.11a
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• pp.385-386
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• 2007

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.35-36
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• 2010

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.849-850
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• 2010