• Journal of Mechanical Science and Technology
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• 제15권6호
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• pp.743-751
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• 2001

A Prototype reaction wheel, named the Hankuk Aviation University (HAU) reaction wheel, has been developed for KAISTSAT satellite series. Torque and force disturbances are inherent in reaction wheels, and thus the force and torque characteristics should be examined for every newly developed reaction wheel. The torque and force disturbance noises in the prototype HAU reaction wheel are measured with a torque-measuring table developed for the present study. A new measuring procedure based on a simple principle is applied for the measurements. The frequency characteristics of the torque and force noises are analyzed by examining the power spectral density. The effect of the torque noise on the attitude stability is also examined through numerical simulations with a single-axis attitude model. The noise-induced attitude error and jitter and found to be well below the specified error limits for the KAISTSAT satellite series.

• 대한기계학회논문집A
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• 제20권2호
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• pp.540-552
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• 1996

In this paper, a compensation method of disturbance using a disturbance observer is proposed for a force control of a pneumatic robot manipulator. The generated torque by a pneumatic actuator can be estimated based on the pressure signals. The inner torque control system is constructed by feeding back the generated torque to improve the dynamic characteristics of the actuator. In order to reduce the influence of disturbances comprising friction torque, parameter variations of plant and environment and so on, the reaction torque control system is constructed with a disturbance observer which estimates the disturbances based on the reference input to the inner torque control system and the reaction torque sensed with a forced sensor. From some simulations and experiments, it is confirmed that the proposed control system is effective to improve the robustness for the friction torque and the parameter change of object in the force control of a pneumatic robot manupulator.

• 한국컴퓨터그래픽스학회논문지
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• 제1권2호
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• pp.201-212
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• 1995

This paper presents a new method of dynamics-based synthesis of bipedal, especially human, walking. The motion of the body at a time point is determined by ground reaction force and torque under the support foot and joint torques of the body at that time point. Motion synthesis involves specifying conditions that constrain ground reaction force and torque, and joint torques so that a given desired motion may be achieved. There are conditions on a desired motion which end-users can think of easily, e.g. the goal position and orientation of the swing foot for a single step and the time period of a single step. In this paper, we specify constraints on the motion of the support foot, which end-users would find difficult to specify. They are constraints which enforce non-sliding, non-falling, and non-spinning the support foot. They are specified in terms of joint torques and ground reaction force and torque. To satisfy them, both joint torques and ground reaction force and torque should be determined appropriately. The constraints on the support foot themselves do not give any good clues as to how to determine ground reaction force and torque. For that purpose, we specify desired trajectories of the application point of vertical ground reaction force (ground pressure) and the application point of horizontal ground reaction (friction) force. The application points of vertical pressure and friction force are good control variables, because they are indicators to kinds of walking motions to synthesize. The synthesis of a bipedal walking motion, then, consists of finding a trajectory of joint torques to achieve a given desired motion, so that the constraints are satisfied under the condition of the prescribed center of pressure and center of friction. Our approach is distinguished from many other approaches, e.g. the inverted-pendulum approach, in that it captures and formulates dynamics of the support foot and reasonable constraints on it.

• 한국운동역학회지
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• 제17권3호
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• pp.69-80
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• 2007

The purpose of this study was to investigate the difference of ground reaction forces of swimming athletes during their starting motion and to find out the most effective starting motions which were used in swimming athletes. The subjects were 9 male and 8 female high school swimming athletes who were athletic career over 7 years and used three starting motions in competition. The ground reaction forces were measured from each athletes performing three starting motion each of the open grap starting motion, closed grap starting motion and track starting motion. For the measurement, the force platform of AMTI company was utilized, and the analysis on measured ground reaction forces were used of Biosoft(Ver. 1.0). The items measured were stance time, Fz max deceleration force and Fz max deceleration force time, Fz mid stance force and Fz mid stance force time, Fz max acceleration force and Fz max acceleration force time, Torque maximum and Torque maximum time, Torque average, Excursion along Y axis of center of pressure of foot, Excursion along X axis of center of pressure of foot, Length of center of pressure of foot, Average velocity of center of pressure of foot. The data measured by the closed grap starting motion, open grap starting motion and track starting motion were analyzed by one-way repeated ANOVA. The results were as follows ; 1. The Fz max deceleration force time, Fz mid stance force, Fz max acceleration force, Torque maximum and Torque maximum time, Excursion along Y axis of center of pressure of foot, Average velocity of center of pressure of foot were significantly fast and large in the closed grap starting motion then open grap starting motion and track starting motion. 2. The Excursion along Y axis of center of pressure of foot was significantly long in the closed grap starting motion then open grap starting motion and track starting motion.

• 동력기계공학회지
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• 제20권3호
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• pp.57-63
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• 2016

This paper presents the experimental result and theoretical analysis result to investigate the correlation between the operating force, angle and locking torque for vehicle hood frame. Also, we derived the experimental equation that using the results for experiment and theory. The hood frame is switching-devices used for opening and closing the vehicle hood. It needs the correlation data between locking torques of each joint, operating force and angle of hood frame. The correlation data for torque and reaction force of hood frame obtained through experiment and theory analysis. Finally, the experimental equation of the locking torque prediction for the hood frame is derived.

• 제어로봇시스템학회논문지
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• 제10권4호
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• pp.350-356
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• 2004

This paper presents a farce manipulability analysis of multi-legged walking robots, which calculates force or acceleration workspace attainable from joint torque limits of each leg. Based on the observation that the kinematic structure of the multi-legged walking robots is basically the same as that of multiple cooperating robots, we derive the proposed method of analyzing the force manipulability of walking robot. The force acting on the object in multiple cooperating robot systems is taken as reaction force from ground to each robot foot in multi-legged walking robots, which is converted to the force of the body of walking robot by the nature of the reaction force. Note that each joint torque in multiple cooperating robot systems is transformed to the workspace of force or acceleration of the object manipulated by the robots in task space through the Jacobian matrix and grasp matrix. Assuming the torque limits are given in infinite norm-sense, the resultant dynamic manipulability is derived as a polytope. The validity of proposed method is verified by several examples, and the proposed method is believed to be useful for the optimal posture planning and gait planning of walking robots.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.291-291
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• 2000

A vehicle driving simulator is a virtual reality device which a human being feels as if the one drives a vehicle actually. Driving Operation System acts as an interface between a driver and a driving simulator. This paper suggests the driving operation system for a driving simulator. This system consists of a controller, DC geared motor, MR brake, rotary encoders, steeping motor and bevel gear box. Reaction force and torque on the steering system were made by DC_Motor and MR_Brake. Reaction force and torque on the steering system were compare between real car and a driving simulator. The controller based on the 80C196KC micro processor that manage and transfer signal.

• 대한기계학회논문집A
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• 제31권4호
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• pp.409-416
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• 2007

A momentum type actuator produces force and torque disturbances as well as its designed control torque. These disturbances are ones of the largest disturbance sources inside the spacecraft, which deteriorate the pointing stability of the high precision spacecraft. The measurement and analysis of actuator disturbances are therefore imperative for such a spacecraft, and thus a three dimensional torque measurement table has been developed for that purpose. The data acquired from the measurement table are processed in the frequency domain and displayed in the power spectral density(PSD). Through this process, disturbance model parameters are obtained and used for the attitude stability simulation. The process has been adopted for the disturbance measurement of the reaction wheel, and the validity of measurements and parameter identification procedure is verified.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.117.5-117
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• 2001

This paper presents the key idea of handlebar reaction force and pedal resistance force generation in creating life-like feeling in KAIST bicycle simulator. Also, it provides methods to evaluate its reality level with given reaction force profile. In KAIST bicycle simulator, the pedal resistance force and the handlebar reaction force are calculated using the bicycle dynamic model. With the information handlebar angle, rider´s pedaling torque and road profile transmitted from the handlebar system, the pedal system and the visual part, the bicycle dynamics engine calculates the handlebar reaction force and the pedal velocity. The handlebar system and the pedal resistance system generate reaction force and resistance force transmitted from dynamics engine. However to make more realistic riding feeling ...

• 한국운동역학회지
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• 제26권1호
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• pp.31-37
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• 2016

Purpose: The purpose of this study was to investigate the differences in FT (free-torque) components between non-fatigue and fatigue conditions induced by prolonged running. Methods: Fifteen healthy runners with no previous lower-extremity fractures ($22.0{\pm}2.1$ years of age) participated in this study. Ground reaction force data were collected for the right-stance phase for 10 strides of 5 and 125-min running periods at 1,000 Hz using an instrumented force platform (instrumented dual-belt treadmills, Bertec, USA) while the subjects ran on it. The running speed was set according to the preferences of the subjects, which were determined before the experiment. FT variables were calculated from the components of the moment and force output from the force platform. A repeated-measures one-way ANOVA was used to test for significant differences between the two conditions. The alpha level for all the statistical tests was 0.05. Results: The absolute FT at the peak braking force was significantly greater after 5 mins of running than after 125 mins of running-which was regarded as a fatigued state-but there were no significant differences in the absolute peak FT or impulse between the conditions. Conclusion: The FT variables in the fatigue condition during prolonged running hardly affect the tibial stress syndrome.