• Advances in robotics research
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• v.1 no.1
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• pp.61-79
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• 2014

This paper presents theoretical and experimental investigations into the dynamic modelling and characterisation of a two-link flexible manipulator incorporating payload. A planar two-link flexible manipulator that moves in a horizontal plane is considered. A dynamic model of the system is developed using a combined Euler-Lagrange and assumed mode methods, and simulated using Matlab. Experiments are performed on a lab-scaled two-link flexible manipulator for validation of the dynamic model and characterisation of the system. Two system responses namely hub angular position and deflection responses at both links are obtained and analysed in time and frequency domains. The effects of payload on the dynamic characteristics of the flexible manipulator are also studied and discussed. The results show that a close agreement between simulation and experiments is achieved demonstrating an acceptable accuracy of the developed model.

• Earthquakes and Structures
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• v.11 no.2
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• pp.245-264
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• 2016

A suitable ground motion intensity measure (IM) plays a crucial role in the seismic performance assessment of a structure. In this paper, we introduce a scalar IM for use in evaluating the seismic response of single-layer reticulated domes. This IM is defined as the weighted geometric mean of the spectral acceleration ordinates at the periods of the dominant vibration modes of the structure considered, and the modal strain energy ratio of each dominant vibration mode is the corresponding weight. Its applicability and superiority to 11 other existing IMs are firstly investigated in terms of correlation with the nonlinear seismic response, efficiency and sufficiency using the results of incremental dynamic analyses which are performed for a typical single-layer reticulated dome. The hazard computability of this newly proposed IM is also briefly discussed and illustrated. A conclusion is drawn that this dominant vibration mode-based scalar IM has the characteristics of strong correlation, high efficiency, good sufficiency as well as hazard computability, and thereby is appropriate for use in the prediction of seismic response of single-layer reticulated domes.

• Journal of Korean Association for Spatial Structures
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• v.18 no.3
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• pp.83-91
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• 2018

In this study, we investigated the dynamic stability of the system and the semi-analytical solution of the shallow arch. The governing equation for the primary symmetric mode of the arch under external load was derived and expressed simply by using parameters. The semi-analytical solution of the equation was obtained using the Taylor series and the stability of the system for the constant load was analyzed. As a result, we can classify equilibrium points by root of equilibrium equation, and classified stable, asymptotical stable and unstable resigns of equilibrium path. We observed stable points and attractors that appeared differently depending on the shape parameter h, and we can see the points where dynamic buckling occurs. Dynamic buckling of arches with initial condition did not occur in low shape parameter, and sensitive range of critical boundary was observed in low damping constants.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.7
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• pp.1289-1294
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• 2010

In this paper, a new discrete integral static output feedback variable structure controller based on the a new integral dynamic-type sliding surface and output feedback discrete version of the disturbance observer is suggested for the control of uncertain linear systems. The reaching phase is completely removed by introducing a new proposed integral dynamic-type sliding surface. The output feedback discrete version of disturbance observer is presented for effective compensation of uncertainties and disturbance. A corresponding control with disturbance compensation is selected to guarantee the quasi sliding mode on the predetermined integral dynamic-type sliding surface for guaranteeing the designed output in the integral dynamic-type sliding surface from any initial condition for all the parameter variations and disturbances. Using discrete Lyapunov function, the closed loop stability and the existence condition of the quasi sliding mode is proved. Finally, an illustrative example is presented to show the effectiveness of the algorithm.

• Structural Engineering and Mechanics
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• v.44 no.6
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• pp.801-814
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• 2012

The strain rate effects on the interaction between a Mode I matrix crack and an inclined elliptic matrix-inclusion interface under dynamic tensile loadings were investigated numerically, and the results are in agreement with previous experimental data. It is found, for a given material system, that there are the first and the second critical strain rates, by which three kinds of the subsequent crack growth patterns can be classified in turn with the increasing strain rate, namely, the crack deflection, the double crack mode and the perpendicular crack penetration. Moreover, such a crack deflection/penetration behavior is found to be dependent on the relative interfacial strength, the inclined angle and the inclusion size. In addition, it is shown that the so-called strain rate effect on the dynamic strength of granule composites can be induced directly from the structural dynamic response of materials, not be entirely an intrinsic material property.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.5 no.4
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• pp.65-73
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• 1985

A stochastic dynamic analysis using Mode-Acceleration Method was formulated and examined in this paper. A computer program was developed using this theory and model offshore structure was analyzed by the program. Results show that the stochastic dynamic analysis using the Mode-Acceleration Method is superior to that using Mode Displacement Method. The method using the theory developed in this paper was proved to be very reliable, economic and potential.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.30B no.9
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• pp.36-44
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• 1993

In the development of a high speed and light weight manipulator, it is necessary to consider the flexibility of a robotic arm. The infinite dynamics must be analyzed to obtain the finite mode modeling to achieve the feasible controller design of the robotic arm. The modeling procedures of the flexible robot arm, and natural frequencies and mode shapes by the constrained and unconstrained mode method are illustrated. The transfer function of the robot arm with a payload is also shown. The controller is designed by the pole assignment and optimal control theory to compensate for the unmodelled dynamic effects to the low order system. Also, the pole assignment method involving the harmonic vibration mode is presented through computer simulation.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1996.04a
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• pp.177-183
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• 1996

By utilizing the concept of normal modes, nonlinear dynamics is studied on pendulum dynamic absorber. When the spring mode loses the stability in undamped free system, a dynamic two-well potential is formed in Poincare map. A procedure is formulated to compute the forced responses associated with bifurcating mode and predict double saddle-loop phenomenon. It is found that quasiperiodic motion and stable periodic motion coexist in some parameter ranges, and only periodic motions or rotation of pendulum with chaotic fluctuation are observed in other ranges.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.1 s.178
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• pp.121-128
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• 2006

This paper deals with the application of enhanced perturbation estimation (SMCEPE) to sliding mode control of a dynamic system in the presence of perturbations including external disturbances, unpredictable parameter variations, and unstructured dynamics. Compared to conventional sliding mode control (SMC) and sliding mode control with perturbation estimation (SMCPE), the proposed one can offer robust control performances under serious control conditions, such as fast dynamic perturbations and slow loop-closure speeds, without a priori knowledge on upper bounds of perturbations. The perturbation estimator in SHCEPE also has more adaptability owing to the fractional-order hold technique. The effectiveness and superiority of the proposed control strategy are demonstrated by a series of simulations on the position tracking control of a two-link robot manipulator.

• Proceedings of the KIEE Conference
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• 1988.11a
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• pp.53-55
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• 1988

The application of Sliding Mode Control for inproving the dynamic response of a Multi-Phase-Bipolar (MPB) Brushless DC motor based position Brushless DC motor system is presented. Sliding Mode Control gives fast dynamic response with no overshoot and zero steady state error. It has the important feature of bins highly robust. A design procedure is outlined for the Sliding Mode Controller for a MPB Brushless DC motor. Digital computer simulation of the overall position control system is carried out using a time domain model in the d-q reference frame.