• The Journal of the Korea institute of electronic communication sciences
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• v.4 no.3
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• pp.236-242
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• 2009

When two-link flexible arm is rotated about an joint axis, transverse vibration may occur. In this paper, vibration dynamics of flexible robot arm is modeled by using Bernoulli-Euler beam theory and Lagrange equation. Using the fact that matrix $\dot{D}$-2C is skew symmetric, new controllers which have a simplified structure with less computational burden is proposed. Lyapunov stability theory is applied to achieve a stable deterministic nonlinear controller for the regulation of joint angle.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.652-657
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• 1992

This paper presents to accomplish successfully a multi-input real time control by applying control hierarchy for sliding mode of multi-joint manipulators whose nonlinear terms are regarded as disturbances. We- could simplify the dynamic equations of a manipulator and servo system, which are composed of linear elements and nonlinear elements, by assuming that nonlinear terms, which are Inertia term, gravity force term, Coriolis force term and centrifugal force term, are external disturbance. By simplifying that equation, we could easily obtain a control input which satisfy sliding mode of multi-input system. We proposed a new control input algorithm in order to decrease chattering by changing control input according as effect of disturbance if a control response become within allowance error range. In this experiments, we used DSP(Digital Signal Processor) controller to suppress chattering by time delay of calculation and to carry out real time control.

• Steel and Composite Structures
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• v.32 no.1
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• pp.111-126
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• 2019

This paper deals with experimental investigation and modeling of the static behavior of a novel RCS beam-column exterior joint. The studied joint detail is a through-column type in which an H steel profile totally embedded inside RC column is directly welded to the steel beam. The H steel profile was covered by two supplementary plates in the joint area in order to avoid the stirrups resisting shear in the joint area. Two full-scale through-column-type RCS joints were tested under static loading. The objectives of the tests were to examine the connection performance and to highlight the contribution of two supplementary plates on the shear resistance of the joint. A reliable nonlinear 3D finite element model was developed using ABAQUS software to predict the response and behavior of the studied RCS joint. An extensive parametric study was performed to investigate the influences of the stirrups, the encased profile length and supplementary plate length on the behavior of the studied RCS joint.

• International Journal of Korean Welding Society
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• v.5 no.1
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• pp.60-65
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• 2005

In the field of welding the mechanical behavior of a welded structure under consideration may be predicted via heat transfer and welding residual stress analysis. Usually such numerical analyses are limited to small regular mesh models or test specimens. Nevertheless, there is very few strength assessment of the whole structure that includes the effect of welded residual stress. The present work is based on the specialized finite element codes for the calculation of nonlinear heat transfer details and residual stress including the external load on the welded RHS (Rectangular Hollow Section) T-joint connections of the whole structure. First the thermal history of the combined fillet and butt-welded T-joint equal width cold-formed RHS are calculated using nonlinear finite element analysis (FEA) considering the quarter model of the joint. Then using this thermal history the residual stress around the joints has been evaluated. To validity the FEA result, the calculated residual stresses were compared with the available experimental results. The residual stress obtained from the quarter model is mapped to the full model and then to the whole structure model using FEM codes. The results from the FEM codes were exported to the commercial package for visualization and further analysis applying loads and boundary conditions on the whole structure. The residual stress redistribution along with the external applied load is examined computationally.

• Steel and Composite Structures
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• v.25 no.1
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• pp.19-34
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• 2017

The widespread damage to steel Moment Resisting Frames (MRFs) in past major earthquakes have underscored the need to understand the nonlinear inelastic behaviour of such systems. To assess the seismic performance of steel MRF, it is essential to model the nonlinear force-deformation behaviour of beam to column joints. To determine the extent of inelasticity in a beam to column joint, nonlinear finite element analysis is generally carried out, which is computationally involved and demanding. In order to obviate the need of such elaborate analyses, a simplistic method to predict the force-deformation behaviour is required. In this study, a simple, mechanics driven, hand calculation method is proposed to obtain the forcedeformation behaviour of strong axis beam to column moment joints. The force-deformation behaviour for twenty-five interior and exterior beam to column joints, having column to beam strength ratios ranging from 1.2 to 10.99 and 2.4 to 22, respectively, have been obtained. The force-deformation behaviour predicted using the proposed method is compared with the results of finite element analyses. The results show that the proposed method predicts the force-deformation behaviour fairly accurately, with much lesser computational effort. Further the proposed method has been used to conduct Nonlinear Dynamic Time History Analyses of two benchmark frames; close correspondence of results obtained with published results establishes the usefulness and computational accuracy of the method.

• Journal of Mechanical Science and Technology
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• v.14 no.11
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• pp.1225-1231
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• 2000

This paper proposes a V-shaped Lyapunov function approach for the model-based control of flexible-joint robots, in which a new model-based nonlinear control scheme is designed based on a V-shaped Lyapunov function. The proposed control guarantees global asymptotic stability for link trajectory control while keeping all internal signals bounded. Since joint flexibility is used as a control parameter, the proposed control is not restricted by the degree of joint flexibility and be applied to flexibility-joint, partly-flexibility, or rigid-joint robots without modification. the effectiveness of the proposed control has been by computer simulation.

• Computers and Concrete
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• v.31 no.5
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• pp.419-432
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• 2023

Beam-column joints are a critical component of reinforced concrete frame structures. They are responsible for transferring forces between adjoining beams and columns while limiting story drifts and maintaining structural integrity. During severe loading, beam-column joints deform significantly, affecting, and sometimes governing, the overall response of frame structures. While most failure modes for beam and column elements are commonly considered in plastic-hinge-based global frame analyses, the beam-column joint failure modes, such as concrete shear and reinforcement bond slip, are frequently omitted. One reason for this is the dearth of published guidance on what type of hinges to use, how to derive the joint hinge properties, and where to place these hinges. Many beam-column joint models are available in literature but their adoption by practicing structural engineers has been limited due to their complex nature and lack of practical application tools. The objective of this study is to provide a comparative review of the available beam-column joint models and present a practical joint modeling approach for integration into commonly used global frame analysis software. The presented modeling approach uses rotational spring models and is capable of modeling both interior and exterior joints with or without transverse reinforcement. A spreadsheet tool is also developed to execute the mathematical calculations and derive the shear stress-strain and moment-rotation curves ready for inputting into the global frame analysis. The application of the approach is presented by modeling a beam column joint specimen which was tested experimentally. Important modeling considerations are also presented to assist practitioners in properly modeling beam-column joints in frame analyses.

• Journal of the Korean Institute of Telematics and Electronics
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• v.26 no.9
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• pp.1332-1339
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• 1989

The problem of finding an admissible object trajectory for a cooperating two-robot system is investigated. The method is based on reformulating the problem as a nonlinear optimization problem with equality constraints in terms of the joint variables. The optimization problem is then solved numerically on a computer. The solution automatically gives the corresponding joint variable trajectories as well, thus eliminating the need for solving the inverse kinematic problem. The performance indices are chose in joint and cartesian spaces and computer simulations are performed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.419-423
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• 1996

These days, industrial robots are required to have high speed and high precision in doing various tasks. Recently, the adaptive control algorithms for those nonlinear robots have been developed. With spatial vector space, these adaptive algorithms including recursive implementation are simply described. Without sensing joint acceleration and computing the inversion of inertia matrix, these algorithms which include P.D. terms and feedforward terms have global tracking convergence. In this paper, the feasibility of the proposed control method is illustrated by applying to 2 DOF SCARA robot in DSP(Digital Signal Processing).

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.383-387
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• 1996

This paper presents a steering control strategy applicable to vehicle path following problems. This control strategy is based on realistic nonlinear equations of motion of multibody systems described in terms of relative joint coordinates. The acceleration of the steering angle is selected as a control input of the system. This input is obtained by considering position and slope errors at current and at advance times. This steering control strategy is tested in circular and lane change maneuvers with a nonlinear vehicle model.