• 동력기계공학회지
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• 제12권2호
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• pp.55-61
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• 2008

This paper discusses the advantages of using Fourier-based periodic excitation and of combining internal and external models in dynamic robot parameter identification. Internal models relate the joint torques or forces with the motion of the robot; external models relate the reaction forces and torques on the bedplate with the motion data. This combined model allows to combine joint torque/force and reaction torque/force measurements in one parameter estimation scheme. This combined model estimation will yield more accurate parameter estimates, and consequently better predictions of actuator torque, which is shown by means of a simulated experiment on a CRS A465 industrial robot.

• Structural Engineering and Mechanics
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• 제53권2호
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• pp.373-392
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• 2015

In the present work, structural joints have been modeled as a pair of translational and rotational springs and frequency equation of the overall system has been developed using sub-structure synthesis. It is shown that using first few natural frequencies of the system, one can obtain a set of over-determined system of equations involving the unknown stiffness parameters. Method of multi-linear regression is then applied to obtain the best estimate of the unknown stiffness parameters. The estimation procedure has been developed first for a two parameter joint model and then for a three parameter model, in which cross coupling terms are also included. Two cases of structural connections have been considered, first with a cantilever beam with support flexibility and then a pair of beams connected through lap joint. The validity of the proposed method is demonstrated through numerical simulation and by experimentation.

• 제어로봇시스템학회논문지
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• 제10권5호
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• pp.395-401
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• 2004

We present an AILC(Adaptive Iterative Learning Control) scheme and a sufficient condition for system parameter identification for uncertain robotic systems that perform the same tasks repetitively. It is guaranteed that the joint velocity and position asymptotically converge to the reference joint velocity and position, respectively. In addition, it is proved that a sufficient condition for parameter identification is the PE(Persistent Excitation) condition on the regressor matrix evaluated at the reference trajectory during the operation period. Since the regressor matrix on the reference trajectory can be easily computed prior to the real robot operation, the proposed algorithm provides a useful method to verify whether the parameter error converges to zero or not.

• Structural Engineering and Mechanics
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• 제45권4호
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• pp.423-437
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• 2013

Complex structures are usually assembled from several substructures with joints connecting them together. These joints have significant effects on the dynamic behavior of the assembled structure and must be accurately modeled. In structural analysis, these joints are often simplified by assuming ideal boundary conditions. However, the dynamic behavior predicted on the basis of the simplified model may have significant errors. This has prompted the researchers to include the effect of joint stiffness in the structural model and to estimate the stiffness parameters using inverse dynamics. In the present work, structural joints have been modeled as a pair of translational and rotational springs and frequency equation of the overall system has been developed using sub-structure synthesis. It is shown that using first few natural frequencies of the system, one can obtain a set of over-determined system of equations involving the unknown stiffness parameters. Method of multi-linear regression is then applied to obtain the best estimate of the unknown stiffness parameters. The estimation procedure has been developed for a two parameter joint stiffness matrix.

• 전산구조공학
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• 제10권2호
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• pp.149-160
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• 1997

본 연구에서는 경계부 및 연결부를 지닌 기계 구조물의 유한요소모델 수립시 상대적으로 불확실성이 많은 경계부 및 연결부를 정확히 모델링하여 전체 구조계에 대한 해석적 모델의 신뢰도를 제고하는데 그 목적을 두고, 현장에서 간단히 측정할 수 있는 측정 데이터와 축약된 형태의 유한요소모델을 이용하는 S.I.기법을 제시하였다. 제시된 방법은 연결부를 제외한 연속체를 유한요소법으로 모델링하고 연결부의 동적 계수를 변수 상태로 하여 시간 영역에서의 비선형 상태 방정식을 구성하였으며 계수 규명 문제를 비선형 상태 방정식의 상태 추정 문제로 변환하여 해결하였다. 두 가지 예제에 대한 수치 해석을 통하여 제시된 기법의 타당성을 검증하였다.

• 한국정밀공학회지
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• 제21권11호
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• pp.209-218
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• 2004

The purpose of this paper is to suggest a practical and simple method for the identification of the joint mechanical properties and to apply it to human knee joints. The passive moment at a joint was modeled by three mechanical parts, that is, a gravity term, a linear damper term and a nonlinear spring term. Passive pendulum tests were performed in 5 fat and 5 thin men. The data of pendulum test were used to identify the mechanical properties of joints through sequential quadratic programming (SQP) with random initial values. The identification was successful where the normalized root-mean-squared (RMS) errors between the simulated and experimental joint angle trajectories were less than 10％. The parameter values of mechanical properties obtained in this study agreed with literature. The inertia, gravity and the damping constant were greater at fat men, which indicates more resistance to body movement and more energy consumption fer fat men. The suggested method is noninvasive and requires simple setup and short measurement time. It is expected to be useful in the evaluation of joint pathologies.

• Structural Engineering and Mechanics
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• 제57권1호
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• pp.141-159
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• 2016

Bearing joint dynamic parameter identification is crucial in modeling the high speed spindles for machining centers used to predict the stability and natural frequencies of high speed spindles. In this paper, a hybrid method is proposed to identify the dynamic stiffness of bearing joint for the high speed spindles. The hybrid method refers to the analytical approach and experimental method. The support stiffness of spindle shaft can be obtained by adopting receptance coupling substructure analysis method, which consists of series connected bearing and joint stiffness. The bearing stiffness is calculated based on the Hertz contact theory. According to the proposed series stiffness equation, the stiffness of bearing joint can be separated from the composite stiffness. Then, one can obtain the bearing joint stiffness fitting formulas and its variation law under different preload. An experimental set-up with variable preload spindle is developed and the experiment is provided for the validation of presented bearing joint stiffness identification method. The results show that the bearing joint significantly cuts down the support stiffness of the spindles, which can seriously affects the dynamic characteristic of the high speed spindles.

• 대한기계학회논문집A
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• 제24권6호
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• pp.1633-1642
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• 2000

Like many other mechanical dynamic systems, flexible manipulator systems experience stiction or sticking friction, which may cause input-dependent instabilities. Manipulator performance can be enha nced by identifying friction but it is hard and expensive to measure friction by direct and precise sensing of contact displacements and forces. This study addresses the problem of identifying flexible manipulator joint friction. A dynamic model of a two-link flexible manipulator based upon finite element and Lagrange's method is constructed. The dynamic model includes the effects of joint compliances and actuator dynamics. Friction is also incorporated in the dynamic model to account for stick-slip at the joints. Next, the friction parameters are to be determined. The identification problem is posed as an optimization problem to be solved using nonlinear programming methods. A genetic algorithm is used to increase the convergence rate and the chances of finding the global optimum. The identified friction parameters are experimentally verified and it is expected that the identification technique is applicable to a system parameter identification problem associated with a wide class of nonlinear systems.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 춘계학술대회논문집
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• pp.635-644
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• 2004

A method of identifying structural parameters such as stiffness and damping coefficients at interfacial points of vibro-acoustic systems is suggested using an optimization technique. To identify the parameters using a numerical optimization algorithm, cost functions are defined. The cost function should be zero at the correct parameter values. To minimize the cost functions using an optimization technique, a design sensitivity analysis procedure is developed in the framework of the multi-domain FRF-based substructuring method. As a numerical example, a ladder-like structure problem is introduced. With known parameter values and different initial guesses of the parameters, convergence characteristics to the exact value are compared f3r the three cost functions. Investigating the contours of the cost functions, we find the first cost function has the largest convergent region to the correct value. As another practical problem, stiffnesses of engine mounts and bushings in a passenger car are identified. The numerical examples show that the proposed method is efficient and accurate far realistic problems.

• 한국소음진동공학회논문집
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• 제14권6호
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• pp.536-545
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• 2004

A method of identifying structural parameters such as stiffness and damping coefficients at interfacial points of vibro-acoustic systems is suggested using an optimization technique. To identify the parameters using a numerical optimization algorithm, cost functions are defined. The cost function should be zero at the correct parameter values. To minimize the cost functions using an optimization technique, a design sensitivity analysis procedure is developed in the framework of the multi-domain FRF-based substructuring method. As a numerical example, a ladder-like structure problem is introduced. With known parameter values and different initial guesses of the parameters, convergence characteristics to the exact value are compared for the three cost functions. Investigating the contours of the cost functions, we find the first cost function has the largest convergent region to the correct value. As another practical problem, the stiffnesses of engine mounts and bushings in a passenger car are identified. The numerical examples show that the proposed method is efficient and accurate for realistic problems.