• Journal of the Korean Society for Precision Engineering
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• v.19 no.4
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• pp.202-208
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• 2002

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous assembly tasks using hydraulic manipulators. In this report, we applied a compliance control which is based on the position control by a disturbance observer for our manipulator system. And a reference trajectory modification method is proposed in order to achieve accurate force control even though the stiffness and position of environment change. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved under various environment conditions.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.10
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• pp.94-104
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• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C31) for robotic manpulators to achieve accurate trajectory tracking by the joint angles Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed contorl scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Morever, this scheme does not require an accurate dynamic modeling nor values of manpipulator parameters and payload. Performance of the adaptive controller is illustated by simulation and experimental results for a SCARA robot.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.136-139
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• 2000

Controller refinement scheme to improve the performance of a conventional system automatically in frequency domain is proposed. The controller automatic tuning method features using experimental frequency responses of the conventional closed-loop system, the conventional controller, and the improved closed-Imp system; instead of poorly modeled plant due to non-linearities and disturbances. The improved closed-loop system characteristics is automatically acquired by the conventional closed-loop system characteristics and the proposed performance index in system bandwidth. And the proper controller is realized by least squares approximation in frequency domain. To testify the usefulness of the approach, experimental results of robot path-tracking control applied with various controllers is used, and then is analyzed with respect to a equivalent proportional controller. Experimental results and analytic results are well-matched.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.1 s.178
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• pp.113-120
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• 2006

This paper proposed the control algorithm fur aspheric surface grinding and was verified by the experiment. The functions of the algorithm were simultaneous control of the position and interpolation of the aspheric curve. The non-linear formula of the tool position was derived from the aspheric equations and the shape of the tool. The function was partitioned by an certain interval and the control parameters were calculated at each control section. The movement in a session was interpolated with acceleration and velocity. The position error was feed-backed by rotary encorder. The concept of feedback algorithm was correcting position error by increasing or decreasing the speed. In the experiment, two-axis machine was controlled to track the aspheric surface by the proposed algorithm. The effect of the control and process parameters was monitored. The result showed that the maximum tracking error was under sub-micro level for the concave and convex surfaces.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.458-462
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• 2004

The hydraulic system for discharging compressed gas is composed of compressor tank, proportional flow control servo valve, expulsion spool valve and discharging tube. Purpose of this study is to control of expulsion spool valve. First, we analyzed the hydraulic system. The flow control servo valve is modeled as a 2nd order transfer function and friction force of the expulsion spool valve is modeled as nonlinear model with stribeck effect. However, it is difficult to include the flow reaction force in modeling. So, we exchanged from the simplified flow reaction force of the compressed gas affection into the flow analysis code written in FORTRAN code. Our simulation of the oil pressure system for discharging gas used MATLAB/Simulink. So, we realized ＆apos;Level -2 S-Function Fortran＆apos; to cooperate for MATLAB/Simulink and FORTRAN code. PD controller is selected to control in this system. Simulation results show that with given conditions the controllers give a good tracking performance.

• Journal of Advanced Navigation Technology
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• v.26 no.2
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• pp.85-90
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• 2022

In this study, in order to test the performance of the aircraft system, a threat signal simulator that can transmit a signal similar to the actual threat to the aircraft under test with high power was designed. The high-power threat signal simulator should be able to transmit broadband (UHF band, L band, S band, X band) communication signals and radar signals, and control to transmit signals accurately directed to the aircraft through interfacing tracking radar. The signal strength of the developed equipment is 63 dBm to 93 dBm or more depending on type of signal, and the tracking precision is less than 0.1 degree, which satisfies the required performance. And it was confirmed that the antenna of the high-power threat signal simulator can accurately direct the signal to the aircraft position through the tracking radar interfacing.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.446-449
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• 1995

In this paper, the accurate end position control method of ultraprecision machine tool post using piezoelectric material as an micro positonong devics is presented. This method employs the classical PID feedback and uses an additional notch filter which eliminates the resonance characteristics of controlled plant. And the simple predictor is added to make use of the future value of desired input for better tracking performance. To show the feasibilty of proposed method, the PC-based experimental apparacy can be obtained. Using method, Al specimen of diameter 100mm was cut under practical machining condition to test the practicability of proposed method.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.10
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• pp.180-192
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• 1998

This paper introduces a new self-organizing fuzzy logic controller (SOFLC) for precision contour machining in the presence of large disturbances which adjusts both input and output membership functions simultaneously. The parameters of the proposed controller are self-tuned in real-time according to a continuous measurement of the performance of the controller itself and estimated disturbance values. The proposed controller as well as a conventional fuzzy logic controller and a PID controller were simulated and implemented on a 3-axis milling machine in contour milling. Both the simulations and experiments show that the self-organizing fuzzy logic controller has superior performance in terms of contour tracking accuracy compared with the other two controllers.

• Journal of Intelligence and Information Systems
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• v.15 no.1
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• pp.51-64
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• 2009

A location tracking sensor such as GPS, INS, Radar, and optical equipments is used in tracking Maneuvering Targets with a multi-sensor, and such systems are used to track, detect, and control UAV, guided missile, and spaceship. Until now, Most of the studies related to tracking Maneuvering Targets are on fusing multiple Radars, or adding a supplementary sensor to INS and GPS. However, A study is required to change the degree of application in fusions since the system property and error property are different from sensors. In this paper, we perform the error analysis of the sensor properties by adding a ground radar to GPS and INS for improving the tracking performance by multi-sensor fusion, and suggest the tracking algorithm that improves the precision and stability by changing the sensor probability of each sensor according to the error. For evaluation, we extract the altitude values in a simulation for the trajectory of UAV and apply the suggested algorithm to carry out the performance analysis. In this study, we change the weight of the evaluated values according to the degree of error between the navigation information of each sensor to improve the precision of navigation information, and made it possible to have a strong tracking which is not affected by external purposed environmental change and disturbance.

• Journal of the Korean Society for Precision Engineering
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• v.34 no.2
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• pp.115-123
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• 2017

This paper presents the design and the control performance of a novel dynamic compliant-arm support with parallel elastic actuators that was developed to assist with the daily living activities of those whose arms are compromised by muscular disease or the aging process. The parallel elastic-arm support consists of a compliant mechanism with combined passive and active components for human interaction and to reach the user's desired positions. The achievement of these tasks requires impedance control, which can change the virtual stiffness, damping coefficients, and equilibrium points of the system; however, the desired-position tracking by the impedance control is limited when the end-effector weight varies according to the equipping of diverse objects. A prompt algorithm regarding weight calibration and friction compensation is adopted to overcome this problem. A result comparison shows that, by accurately assessing the desired workspace, the proposed algorithm is more effective for the accomplishment of the desired activities.