• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.166.5-166
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• 2001

In the teleoperation system, force, position and velocity signals are communicated between master and slave arm. The addition of force feedback for the teleoperation system benefits the operator by providing more information to perform given tasks especially for tasks requiring contact with environment. When the master and slave arms are located in different places, time delay is unavoidable. Also it is well known that the system can become unstable when a time delay exists in the communication channel. The proposed control strategy is to use predictive control method(MBPC). The predictive controller is used to control teleoperation´s position and force control. Also it is used to overcome time delay.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.244-249
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• 1989

For the robot manipulator in performing precision tasks, it is indispensable that the robot utilize the various sensors for intelligence. In this paper, the hybrid position/force control method is implemented with a force/torque sensor, two personal computers, and a PUMA 560 manipulator. Two application S/W packages for edge following and peg-in-hole tasks are developed by the proposed force control algorithm. The related experimental results are then presented and discussed,

• 한국정밀공학회지
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• 제22권12호
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• pp.51-60
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• 2005

This paper describes a robust control scheme for high-speed and long stroke scanning motion of high precision linear motor system consisting of linear motor, air bearing guide and position measurement system using heterodyne interferometer. Nowadays, semiconductor process and inspection of wafer or LCD need high speed and long travel length for their high throughput and extremely small velocity fluctuations or tracking errors. In order to satisfy these conditions, linear motor system are widely used because they have large thrust force and do not need motion conversion mechanisms such as ball screw, rack & pinion or capstan with which the system are burdened. However linear motors have a problem called force ripple. Force ripple deteriorates the tracking performances and makes periodic position errors. So, force ripple must be compensated. To maximize the tracking performance of linear motor system, we propose the control scheme which is composed of a robust control method, Time Delay Controller (TDC) and a feedforward control method, Zero Phase Error Tracking Control (ZPETC) for accurate tracking a given trajectory and an adaptive force ripple compensation (AFC) algorithm fur estimating and compensating force ripple. The adaptive ripple compensation is continuously refined on the basis of tracking error. Computer simulation results based on modeled parameters verify the effectiveness of the proposed control scheme for high-speed, long stroke and high precision scanning motion and show that the proposed control scheme can achieve a sup error tracking performance in comparison to conventional TDC control.

• Journal of Electrical Engineering and Technology
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• 제8권4호
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• pp.766-772
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• 2013

Modeling and control of radial force in the double stator type bearingless switched reluctance motor (BLSRM) is researched. The rotational torque is controlled independently from the radial force control. And the radial force is constant which is independent from the rotor position. In order to realize steady suspension, analytical models of torque and radial force for the proposed structure are derived. Meanwhile, in order to realize steady suspension, control scheme for proposed BLSRM is proposed. In the control method, the radial force can be controlled in arbitrary direction and magnitude by selecting some combinations of radial force windings. The validities of structure and control method are verified by the experimental results.

• Journal of Power Electronics
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• 제6권3호
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• pp.264-270
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• 2006

Magnetic levitation transfer systems are useful for transfer tools in clean rooms and positioning control systems with high precision because of frictionless characteristics. In this paper, the new method is proposed which is a sensorless position. At first, the magnetic levitation is performed by state feedback control with a disturbance observer for each of six axes of the movement of a levitated vehicle. The position of the vehicle is then estimated as the disturbance term of a disturbance observer for a pitch angle which is one of the control axes for the magnetic levitation. In addition, the positioning force is generated by the pitch angle control which gives a tilt to the levitated vehicle so that it generates the horizontal component of force.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.172-178
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• 1993

This paper deals with the modeling and experiment of a robot system for force/impact control performance. The basic model is composed of a direct drive motor, servo amplifier, link, force sensor and environments. Based on the developed model, the stability of the whole system was analyzed via root locus method. For the force control, integral force compensation with velocity feedback method shows the best performance of all the explicit force control strategies. In dealing with impact, PID position control and the explicit force control method were implemented. Instead of add more damping to the robot system by velocity feedback, we developed a new passive damping method and it was also applied to enhance the damping characteristic of the system.

• 한국생산제조학회지
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• 제22권6호
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• pp.1010-1017
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• 2013

Two-axial electrodynamic forces generated on a conductive plate by a partially shielded magnet wheel are strongly coupled through the rotational speed of the wheel. To control the spatial position of the plate using magnet wheels, the forces should be handled independently. Thus, three methods are proposed in this paper. First, considering that a relative ratio between two forces is independent of the length of the air-gap from the top of the wheel, it is possible to indirectly control the in-plane position of the plate using only the normal forces. In doing so, the control inputs for in-plane motion are converted into the target positions for out-of-plane motion. Second, the tangential direction of the open area of the shield plate and the rotational speed of the wheel become the new control variables. Third, the absolute magnitude of the open area is varied, instead of rotating the open area. The forces are determined simply by using a linear controller, and the relative ratio between the forces creates a unique wheel speed. The above methods were verified experimentally.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.327-331
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• 1992

In this paper, we propose dynamic hybrid control method which takes the manipulator dynamics into consideration and extend to two cooperating robots. The first step is the linearization of the manipulator dynamics and the second step is the design of position/force controllers for the linearized model which takes account of both the command response and the robustness of the controllers to modeling errors and disturbance. We also consider load sharing for each robot.

• Journal of Electrical Engineering and Technology
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• 제12권2호
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• pp.711-717
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• 2017

This paper proposes an improved sensorless control to estimate the rotor position of an interior permanent magnet synchronous motor. A phase-locked loop (PLL) is used to obtain the phase angle of the grid. The rotor position can be estimated using a PLL based on extended electromotive force (EEMF) because the EEMF contains information about the rotor position. The proposed method can reduce the burden of calculation. Therefore, the control period is decreased. The simulation and experimental results confirm the effectiveness and performance of the proposed method.

• 한국운동역학회지
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• 제15권2호
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• pp.1-10
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• 2005

G. B. LEE, A. S. GWON, The Research for Using methodof GRF (Ground Reaction Force) on Rotational Movement in Arabesque. Korean Journal of Sport Biomechanics, Vol. 15, No. 2, pp.1-10, 2005. As, in relation to all movements of a human being, the movements such as mutually walking, running, rotating, and jumping are attained endlessly through the ground amid the interaction with the ground, in terms of the harmonious movement of the upper limbs and the lower limbs, related to the basic movement in ballet, the type of a movement depends on the size and direction of the force that presses down the ground (Fz, Fx, Fy) amid the interaction with the ground. Therefore, aiming to correctly and efficiently perform a rotational movement in Arabesque, this study analyzed factors of the force manifestation through GRF (Ground Reaction Force), by dividing into preparing, stepping, standing, rotating, and finishing stages (events (1) ${\sim}$ (5)), targeting the subjects of 4 elite female students who majored in ballet. 1. At the No.5 position of the preparing stage, It is necessary that support the ground with left and right foot balance, 2. As the stepping stage is the phase ranging from the event (2), in which a plie movement of bending a knee is started, to the event (3) of stretching a knee, Rebunding motion is not good, and One have a position with ankle and knee flextion condition in order to stretch strengthly in event (3) position 3. At the event (1) position, It is necessary that exert the Fz reaction force at the event (3) position. Because large stretch force help to have a toe on position easily and show a active motion 4. In order to have a stand and rotation motion smoothly, One need a muscle strength training for ankle extension, knee extension, control horizental force