• 한국해양공학회지
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• 제9권2호
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• pp.30-40
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• 1995

In this paper, it is proposed a robust control scheme for real time control of a robot manipulator with parameter uncertainties. The focus of this paper is a new approach of multivariable control schemes for an assembly robot manipulator to achieve the accurate trajectory tracking by joint angles. The proposed control scheme consists of a multivariable feedforward controller and feedback controller. In this control scheme, the feedback controller consists of proportional-derivative type and is designed by the pole placement method. The feedforward controller uses the inverse of the linealized model of robot manipulator dynamics. This feedback controller ensures that each joint enables to track any reference trajectory. The proposed robot controller scheme has a computational efficiency.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2132-2137
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• 2005

This paper is concerned with computer simulations of a biped robot walking in dynamic gaits. To this end, a three-dimensional robot is considered possessing a torso and two identical legs of a kinematically ingenious design. Specific walking patterns are off-line generated meeting stability based on the ZMP condition. Subsequently, to verify whether the robot can walk as planned, a multi-body dynamics CAE code has been applied to the corresponding joint motions determined by inverse kinematics. In this manner, complex mass effects could be accurately evaluated for the robot model. As a result, key parameters to successful gaits are identified including inherent characteristics as well. Also, joint actuator capacities are found required to carry out those gaits.

• 대한기계학회논문집
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• 제19권3호
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• pp.623-630
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• 1995

The impulse response functions (force-strain relations) for Euler-Bernoulli and Timoshenko beams are considered. The response of a beam to a transverse impact force is numerically obtained with the convolution approach using the impulse response function obtained by Laplace transform. Using this relation, the impact force history is determined in the time domain and results are compared with those from Hertz's contact law. The parameters of timpact force model are identified using the recovered force and compared with the Hertz's contact model. In order to verify the proposed algorithm, measurements were done using an impact hammer and a steel ball drop test and these results are also compared with the simulated values.

• 동력기계공학회지
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• 제19권4호
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• pp.24-29
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• 2015

This paper designs a looper-tension controller for strip top-tail parts in hot strip finishing mills. A three-degree linear model of the looper-tension system is derived by a Taylor's linearization method, where the actuator's dynamics are ignored because of their fast responses. A feedforward shaping controller for the strip top part and a feedforward model reference controller for the strip tail part are respectively designed, they are combined with an ILQ(Inverse Linear Quadratic optimal control) feedback controller for the strip middle part. It is shown from by a computer simulation that the proposed controller is very effective to the strip top-tail parts including the middle part.

• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.444-451
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• 2005

The analysis of human arm motion during steering maneuver is carried out for investigation of man-machine interface of driver and steering system Each arm is modeled as interconnection of upper arm, lower arm, and hand by rotational joints that can properly represents permissible joint motion, and both arms are connected to a steering wheel through spring and damper at the contact points. The joint motion law during steering motion is determined through the measurement of each arm movement, and subsequent inverse kinematic analysis. Combining the joint motion law and inverse dynamic analysis, joint stiffness of arm is estimated. Arm dynamic analysis model for steering maneuver is setup, and is validated through the comparison with experimentally measured data, which shows relatively good agreement. To demonstrate the usefulness of the arm model, it is applied to study the effect of steering column angle on the steering motion.

• International Journal of Automotive Technology
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• 제6권4호
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• pp.403-411
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• 2005

The bus is regarded as one of the most frequently used public transportation systems, the research and development on driving stability, safety, and convenience for drivers and passengers has tremendously increased in recent days. This paper investigated the design of the bus door mechanism composed of an actuator (or motor) and linkages. The bus door mechanism is divided into many types according to the coupling of the linkages and the driving system. The mathematical models of all types of door mechanism have been constructed for computer simulation. To design the bus door mechanism, we developed a simulation program, which automates the kinematic and dynamic analysis according to the input parameters of each linkage and the driving system. Using this program, we investigated the design parameters that affect the kinematic and dynamic characteristics of the bus door mechanism under various simulation conditions. In addition, simple examples are examined to validate the developed program.

• 한국정밀공학회지
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• 제28권5호
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• pp.551-558
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• 2011

To analyze the effect of wear of wheel profile on the running stability of rolling-stock, theoretical and experimental studies were conducted on the profiles used in conventional lines. In experiment using 1/5 scale model to verify the results of the theoretical analysis, the test results of the critical speed for worn wheel profile samples show similar trend. In case of the conical type wheel profile(Profile 40), the equivalent conicity is increased with flange wear. But in case of the arc type wheel profile(Profile 20h), the equivalent conicity is decreased with flange wear. And the critical speed of the bogie was inverse proportion to the equivalent conicity. It is shown that the variation of the critical speed with the wheel wear could be changed according to the design concept and wear pattern of wheel profile. Results of the theoretical and experimental studies are discussed here.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 춘계학술대회
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• pp.756-761
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• 2004

The effects of two important numerical procedures on the high precision structural analysis are investigated in this study. The two numerical procedures include continuous variable approximation and time integration. For the continuous variable approximation, polynomial mode functions generated by the Gram-Schmidt process are introduced and the numerical results obtained by employing the polynomial mode functions are compared to those obtained by classical beam mode functions. The effect of the time integration procedure on the analysis precision is also investigated. It is found that the two procedures affect the precision of structural analysis significantly.

• 로봇학회논문지
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• 제19권1호
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• pp.8-15
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• 2024

This paper proposes a linear model predictive control of 6-DOF remotely operated underwater vehicles using nonlinear robust internal-loop compensator (NRIC). First, we design a integrator embedded linear model prediction controller for a linear nominal model, and then let the real model follow the values calculated through forward dynamics. This work is carried out through an NRIC and in this process, modeling errors and external disturbance are compensated. This concept is similar to disturbance observer-based control, but it has the difference that H_∞ optimality is guaranteed. Finally, tracking results at trajectory containing the velocity discontinuity point and the position tracking performance in the disturbance environment is confirmed through the comparative study with a traditional inverse dynamics PD controller.

• 한국화재소방학회논문지
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• 제24권2호
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• pp.106-113
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• 2010

화재특성을 보다 현실감 있게 분석하기 위해서는 관련된 화재 역학의 정확한 물성 정보를 필요로 하게 되며, 이러한 화재물성을 획득하는 하나의 방법으로서 역물성 분석이 고려될 수 있다. 본 연구에서는 역물성 해석의 한가지 방법으로서 역열전달 해석 등에 많이 응용되고 있는 유전 알고리즘을 이용하였다. 고체 형태의 화재 물질로서 비교적 단순한 반응 특성을 나타내는 탄화물이 외부로부터 열을 받아 열분해되는 과정을 비정상 상태의 일차원문제로 간략화하여 해석하였으며, 이 과정에서 관계되는 반응역학의 물성을 추정하기 위하여 유전 알고리즘을 이용하였다. 이러한 역물성 분석의 입력 자료로서는 주어진 물성값을 이용하여 1차원 비정상 문제의 해석 결과인 탄화물의 열분해 표면 온도와 질량소모율 등이 되며, 이들 입력 자료에 해당하는 8개의 화재 물성치를 추정하여 보았다. 추정된 8개의 물성치 중 최대, 최소 상대오차는 각각 151%(탄화물의 비열), 1.81%(탄화 전 초기재료의 비열)이며, 추정된 8개의 화재 물성치를 입력하여 계산한 표면 온도와 질량소모율의 가상실험값에 대한 평균 상대오차는 각각 0.99773%, 3.087802%로 비교적 정확한 값을 추정한 것으로 나타났다.