• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
• /
• pp.24-29
• /
• 1990

In this paper ,ie propose a hybrid position/force controller of a robot manipulator using double-layer neural network. Each layer is constructed from inverse dynamics and Jacobian transpose matrix, respectively. The weighting value of each neuron is trained by using a feedback force as an error signal. If the neural networks are sufficiently trained it does not require the feedback-loop with error signals. The effectiveness of the proposed hybrid position/force controller is demonstrated by computer simulation using a PUMA 560 manipulator.

• 전자공학회논문지B
• /
• 제28B권11호
• /
• pp.897-903
• /
• 1991

In this paper we propose a hybrid position/force controller of a robot manipulator using feedback error learning rule and neural networks. The neural network is constructed from inverse dynamics. The weighting value of each neuron is trained by using a feedback force as an error signal. If the neural networks are sufficiently trained well, it does not require the feedback-loop with error signals. The effectiveness of the proposed hybrid position/force controller is demonstrated by computer simulation using PUMA 560 manipulator.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2004년도 추계학술대회
• /
• pp.835-839
• /
• 2004

For factory automation using force/torque control, we need a networked-force management system as well as good force sensing and force generation. In this paper, we present a web-based force management system including 6-axis force/torque sensing system. Performance of the force-torque sensor is affected significantly by analog noise that is included in a sensor signal, and the noise should be reduced appropriately to obtain an adequate performance of the sensor. Moreover, the sensor itself should be convenient to install to a real application system. It should be compact in size and also easy to wire in real situation. In this viewpoint, we developed usb-based compact sensor system which is well communicated using web between two computers that exist far away. Software is programmed using LabVIEW and CCS-C. PIC microcontrollers are used for implementing a compact hardware. The proposed system is verified through experimental works.

• 한국정밀공학회지
• /
• 제25권3호
• /
• pp.141-146
• /
• 2008

The purpose of this study is to develop the algorithm which can control muscle power assist robot especially for elderly. Recently, wearable robots for power assistance are developed by many researchers, and its application fields are also variable such as for medical or military equipment. However, there are many technical barriers to develop the wearable robot. This study suggest a control method improving performance of a wearable robot system by using a EMG signal of major muscles and a force sensor signal as command signal of system. The result of the robot Prototype efficiency experiment, the case of Maximum Isometric motion it suggest 100% power of muscle, the man need only 66% of MVIC(Maximum Voluntary Isometric Contraction) to lift 5kg dumbbell without robot assist. However the man needs only 52% of MVIC to lift 5kg dumbbell with robot assist. Therefore 20% muscle power increased with robot assist. Also, we designed light weight robot mechanism that extract the command signal verified and drive the wanted motions.

• 한국지능시스템학회논문지
• /
• 제23권2호
• /
• pp.172-177
• /
• 2013

BCI (Brain Computer Interface)는 인간의 뇌에서 측정된 EEG (Electroencephalogram)를 활용하여 의수와 같은 기기를 조종할 수 있는 좋은 방법 중 하나이다. 본 논문에서는 EEG와 힘과의 관계를 알아보고자 최대수축악력 (MVC)의 25%, 50%, 75%로 3개의 등급으로 나누어 EEG 변화를 측정하였다. 얻어진 EEG data를 FFT와 power spectrum analysis로 ${\alpha}$, ${\beta}$, ${\gamma}$파로 나누어 각 파형의 파워 값을 구한 뒤, 구해진 EEG 파워 값을 PCA와 LDA를 사용하여 특징 추출 및 분류를 하였다. 실험 결과 25%의 악력을 가할 때 보다 75%의 악력 때 더 높은 EEG 파워의 증가를 확인하였고, 왼손과 오른손은 각각 52.03%와 77.7%의 분류율을 나타내었다.

• 한국자동차공학회논문집
• /
• 제7권9호
• /
• pp.105-111
• /
• 1999

The paper presents development of a Hardware-In-the-Loop simulation (HILS) system for the purpose of testing performance, stability, and reliability of an electronic power steering system(EPS). In order to realistically test an EPS by the proposed HILS apparatus, a simulated uniaxial dynamic rack force is applied physically to the EPS hardware by a pnumatic actuator. An EPS hardware is composed of steering wheel &column, a rack & pinion mechanism, andas motor-driven power steering system. A command signal for a pneumatic rack-force actuator is generated from the vehicle handling lumped parameter dynamic model 9software) that is simulated in real time by using a very fast digital signal processor. The inputs to the real-time vehicle dynamic simulation model are a constant vehicle forward speed and from wheel steering angles driven through a steering system by a driver. The output from a real-time simulation model is an electric signal that is proportional to the uniaxial rack force. The vehicle handling lumped parameter dynamic model is validated by a fully nonlinear constrained multibody vehicle dynamic model. The HILS system simulation results sow that the proposed HILS system may be used to realistically test the performance stability , and reliability of an electronic power steering system is a repeated way.

• 한국공작기계학회논문집
• /
• 제16권5호
• /
• pp.108-114
• /
• 2007

A new cutting force estimating approach and machining state monitoring examples are presented which uses a cylindrical displacement sensor built into the spindle. To identify the tool-spindle system dynamics with frequency up to 2 kHz, a home-built electro-magnetic exciter is used. The result is used to build an algorithm to extract the dynamic cutting force signal from the spindle error motion; because the built-in spindle sensor signal contains both spindle-tool dynamics and tool-workpiece interactions. This sensor is very sensitive and can measure broadband signal without affecting the system dynamics. The main characteristic is that it is designed so that the measurement is irrelevant to the geometric errors by covering the entire circumferential area between the target and sensor. It is also very simple to be installed. Usually the spindle front cover part is copied and replaced with a new one with this sensor added. It gives valuable information about the operating condition of the spindle at any time. It can be used to monitor cutting force and chatter vibration, to predict roughness and to compensate the form error by overriding spindle speed or feed rate. This approach is particularly useful in monitoring a high speed machining process.

• 한국기계가공학회지
• /
• 제1권1호
• /
• pp.29-37
• /
• 2002

The wavelet transform is a popular tool for studying intermittent and localized phenomena in signals. In this study the wavelet transform of cutting force signals was conducted for the diagnosis of grinding conditions in grinding process. We used the Daubechies wavelet analyzing function to detect a sudden change in cutting signal level. STD11 workpiece was 85 times of machined pieces cut by the WA wheel and a tool dynamometer obtained cutting force signals. From the results of the wavelet transform, the obtained signals were divided into approximation terms and detailed terms. At dressing time, the approximation signals were slowly increased and 45 machined times noticed dressing time.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2002년도 춘계학술대회 논문집
• /
• pp.1063-1066
• /
• 2002

The wavelet transform is a popular tool for studying intermittent and localized phenomena in signals. In this study the wavelet transform of cutting force signals was conducted for the detection of a tool failure in turning process. We used the Daubechies wavelet analyzing function to detect a sudden change in cutting signal level. A preliminary stepped workpiece which had intentionally a hard condition was cut by the inserted cermet tool and a tool dynamometer obtained cutting force signals. From the results of the wavelet transform, the obtained signals were divided into approximation terms and detailed terms. At tool failure, the approximation signals were suddenly increased and the detailed signals were extremely oscillated just before tool failure.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
• /
• pp.235-238
• /
• 2003

In this study, we propose a method of digital control to drive the vibrating gyroscope using electromagnetic-force. The gyroscope requires accurate vibration control and signal processing for high performance. Conventional PLL based analog controller is not only difficult to manufacture but also weak to outer environment such as temperatures, air pressures and etc. But digital controller using DSP can consistently maintain the cylinder vibration and perform digital signal processing regardless of disturbance. DSP's PWM function was utilized to control the vibration, and rotation-detecting algorithm was developed. Finally, the controller was verified by simulation and experiment using rotation-rate table.