• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.93.2-93
• /
• 2001

This paper presents the implementation of fuzzy PI gain scheduling controller (FPICGS) for controlling flexible joint robot arms with uncertainties from time-varying load. The term FPICGS is called based on a combination of fuzzy PI control scheme with a set of rule bases. Principle of design for a FPICGS is given along with the implementation of the designed computer aided control system. The experiment reveals an effectiveness of the proposed control scheme for flexible joint robot arms driven by a DC motorhooked with a spring which both parameters are completely unknown parameters ...

• 제어로봇시스템학회:학술대회논문집
• /
• 1989.10a
• /
• pp.595-599
• /
• 1989

A new simple method for controlling compliant motions of a flexible robot arm is presented. The method aims at controlling translational tip motion, force and moment by directly computing the base motion or torque. A numerical inversion of Laplace transform is used to obtain the results in the time domain. The results show the effectiveness of the method for the hybrid translational position/force control of a flexible robot arm.

• Journal of the Korean Society for Precision Engineering
• /
• v.17 no.7
• /
• pp.141-146
• /
• 2000

A flexible tool is developed for automatic finishing of curved surfaces without any complicated control technique on three-axes machining center. The tool is made of thermosetting polyurethane elastomer on the surface of which aluminum oxide abrasives are mounted. Performance and durability of the tool are examined by finishing ball-end milled surfaces of high-alloyed tool steel. It is demonstrated that the tool removes cusp successfully without changing overall surface shape in relatively short time.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.16 no.6
• /
• pp.1089-1098
• /
• 1992

This paper concerns a discrete time control of noncolocated flexible mechanical systems by using time delay relation. A stability criterion of closed-loop system is derived in discrete time domain and a graphic method is developed for designing controllers. Based on this method, a derivative controller is designed for a simply supported uniform beam in the cases of colocation without time delay and of noncolocation with time delay. Some simulation results show the effectiveness of the suggested control.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2000.11a
• /
• pp.3-6
• /
• 2000

The magnetic bearing system are intrinsically unstable, and need the feedback control of electromagnetic forces with measured displacements. So the controller design plays an important role in constructing high performance magnetic bearing system. In case of magnetic bearing system, the order of identified model is high because of unknown dynamics included in closed loop systems - such as sensor dynamics, actuator dynamics - and non-linearity of magnetic bearings itself. In this paper the identification and robust control of flexible rotor supported by magnetic bearing are discussed. We measure and identify overall system that contains not only flexible rotor model but also magnetic bearing and time delay. The structured and unstructured uncertainties are modeled that cover variations of natural frequencies, uncertainties in sensor and actuator gains and unmodeled dynamics. And desired performances are specified with several weighting function. Using augmented system that includes identified model, uncertainties, and weighting functions, μ-synthesis is applied to flexible rotor supported with magnetic bearing. The flexible rotor was spin up over the first flexible critical speed.

• Journal of Sensor Science and Technology
• /
• v.24 no.4
• /
• pp.215-218
• /
• 2015

As several innovative technologies for flexible electric devices are being realized, demand for in-situ strain monitoring for flexible electric devices is being emphasized. Because flexible devices are commonly influenced by substrate strain, suitable strain sensors for flexible devices are essential for the sophisticated maneuvering of flexible devices. In this study, a flexible strain sensor based on an Ag electrode is prepared on a polyimide substrate using the LDW (laser direct writing) process. In this process, first, the Ag nanoparticles are coated on the substrate and selectively sintered using a focused laser. Because of the advantages of the LDW process (such as being mask-less, using low temperatures, and having non-vacuum characteristics), the entire fabrication process has been dramatically simplified; as a final outcome, a highly reliable strain sensor has been fabricated. Using this strain sensor, various strain conditions that arise from different bending radii can be detected by measuring real-time electrical signals.

• Journal of Sensor Science and Technology
• /
• v.11 no.4
• /
• pp.200-208
• /
• 2002

This paper represents the development of an array-type flexible tactile sensor using PVDF(polyvinylidene fluoride) film and flexible circuitry. The tactile sensor which has $8{\times}8$ taxels is made by using PVDF film and FPC(flexible printed circuit) technique. Experimental results on static and dynamic properties are obtained by applying arbitrary forces and frequencies generated by the shaker. In the static characteristics, the threshold and the linearity of the sensor are investigated. Also dynamic response of the sensor subjected to the variable frequencies is examined. The signals of a contact force to the tactile sensor are sensed and processed in the DSP system in which the signals are digitalized and filtered. Finally, the signals are integrated for taking the force profile. The processed signals of the outputs of the sensor are visualized on a personal computer, the shape and force distribution of the contacted object are obtained using two and three-dimensional image in real time. The reasonable performance for the detection of contact state is verified through the experiment.

• Transactions of the Society of Information Storage Systems
• /
• v.5 no.1
• /
• pp.19-35
• /
• 2009

The present work is an experimental and analytical study on a flexible disk rotating close to a rigid rotating disk in open air. In the analytical study, the air flow in the gap between the flexible disk and the rigid disk is modeled using Navier-Stokes and continuity equations while the flexible disk is modeled using the linear plate theory. The flow equations are discretized using the cell centered finite volume method (FVM) and solved numerically with semi-implicit pressure-linked equations (SIMPLE algorithm). The spatial terms in the disk equation are discretized using the finite difference method (FDM) and the time integration is performed using fourth-order Runge-Kutta method. An experimental test-rig is designed to investigate the dynamics of the flexible disk when rotating close to a co-rotating, a counter-rotating and a fixed rigid disk, which works as a stabilizer. The effects of rotational speed, initial gap height and inlet-hole radius on the flexible disk displacement and its vibration amplitude are investigated experimentally for the different types of stabilizer. Finally, the analytical and experimental results are compared.

• International Journal of Control, Automation, and Systems
• /
• v.6 no.5
• /
• pp.677-688
• /
• 2008

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new sliding mode control methods by authors. Initially slow and fast dynamics of robot are decoupled using singular perturbation method. Slow dynamics represents the dynamics of the manipulator with rigid base. Fast dynamics is the equivalent effect of the flexibility in the base. Then, using sliding mode control method, an impedance control law is derived for the slow dynamics. The asymptotic stability of the overall system is guaranteed using a combined control law comprising the impedance control law and a feedback control law for the fast dynamics. As first time, base flexibility was analyzed accurately in this paper for flexible base moving manipulator (FBMM). General dynamic decoupling, whole system stability guarantee and new composed robust control method were proposed. This proposed Sliding Mode Impedance Control Method (SMIC) was simulated for two FBMM models. First model is a simple FBMM composed of a 2 DOFs planar manipulator and a single DOF moving base with flexibility in between. Second FBMM model is a complete advanced 10 DOF FBMM composed of a 4 DOF manipulator and a 6 DOF moving base with flexibility. This controller provides desired position/force control accurately with satisfactory damped vibrations especially at the point of contact. This is the first time that SMIC was addressed for FBMM.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2012.05a
• /
• pp.73-74
• /
• 2012