• Journal of the Korean Society of Industry Convergence
• /
• v.23 no.6_1
• /
• pp.889-896
• /
• 2020

We describe a new approach to the analyze the control performance of robotic manipulator based on the monitoring system. The structure of monitoring simulator is consist of seven modes such as control state mode, coordinate mode, input/output mode, program mode, parameters mode, and track mode. The applied control algorithme consists of an time varying feed-forward and feedback controller. The proposed scheme is simple in structure, fast in computation, and suitable for real-time implimemtation. Moreover, this scheme does not require any accurate dynamic modeling and values of parameters. Performance of the proposed monitoring system is illustrated by simulation and experiment for robot manipulator with six degrees of freedom.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.15 no.1
• /
• pp.50-60
• /
• 2016

Laminate composites have a number of excellent characteristics in aspects of strength, stiffness, bending, and buckling. Buckling and postbuckling analysis of laminate composites with layups of [90/0]2s, $[{\pm}45/90/0]s$, $[{\pm}45]2s$ has been carried using the Total Lagrangian nonlinear Newton-Raphson method. The formulation of a geometrically nonlinear composite shell element based on a nonlinear large deformation method is presented. The used element is an eight-node degenerated shell element with six degrees of freedom. Square, circular cylinder, and arch panel laminate geometries were analyzed to verify the effects of the layups on the buckling and postbuckling behavior. The results showed that the effects of laminate layups on bucking and postbuckling behavior and the present formulation showed very good agreement with existing references.

• Structural Engineering and Mechanics
• /
• v.5 no.1
• /
• pp.33-49
• /
• 1997

A method of analysis is proposed for curved multicell box girder grillages. The method can be used to analyze box girder grillages comprising straight and/or curved segments. Each segment can be modelled by a number of beam elements. Each element has three nodes and the nodal degrees of freedom (DOF) consist of the six DOF for a conventional beam plus DOF to account for torsional warping, distortion, distortional warping, and shear lag. This element is an extension of a straight element that was developed earlier. For a more realistic analysis of the intersection regions of non-colinear box girder segments, the concept of a rigid connector is introduced, and the compatibility requirements between adjoining elements in those regions are discussed. The results of the analysis showed good agreement with the shell finite element results, but the proposed method of analysis needs a fraction of the time and effort compared to the shell finite element analysis.

• Structural Engineering and Mechanics
• /
• v.29 no.4
• /
• pp.355-380
• /
• 2008

In this study, the new three-dimensional finite element analysis model of guideway structures considering ultra high-speed magnetic levitation train-bridge interaction, in which the various improved finite elements are used to model structural members, is proposed. The box-type bridge deck of guideway structures is modeled by Nonconforming Flat Shell finite elements with six DOF (degrees of freedom). The sidewalls on a bridge deck are idealized by using beam finite elements and spring connecting elements. The vehicle model devised for an ultra high-speed Maglev train is employed, which is composed of rigid bodies with concentrated mass. The characteristics of levitation and guidance force, which exist between the super-conducting magnet and guideway, are modeled with the equivalent spring model. By Lagrange's equations of motion, the equations of motion of Maglev train are formulated. Finally, by deriving the equations of the force acting on the guideway considering Maglev train-bridge interaction, the complete system matrices of Maglev train-guideway structure system are composed.

• Journal of the Ergonomics Society of Korea
• /
• v.13 no.1
• /
• pp.3-14
• /
• 1994

In this study, the human gait trajectories during normal walking were synthesized using the inverse kinematics and optimization techniques. The synthesis is based on a gait model consisting of a torso and two legs. Each let has three segments: thigh, shank, foot, and has six degrees-of-freedom. In order to synthesize trajectories of this redundant system, the sum of angular displacements of articulating joints was selected as an objective function to be minimized. The proposed algorithm in this study is very useful for the analysis of human gait. For the gait analysis, the trajectories of four points in each leg should be measured. Hpwever, by using the algorithm, measuring the trajectories of two points is sufficient, and thus the experimental set-up can be simplified.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2001.11a
• /
• pp.235-240
• /
• 2001

A four degrees of freedom (dof) motion platform for bicycle simulator is developed. The motion platform, capable of the vertical linear and three angular motions, is designed based on analysis of the typical motion characteristics revealed by the existing six dof bicycle simulator. The platform essentially consists of two parts： the three dof parallel manipulator, consisting of a moving platform, a fixed base and three actuators, and the turntable to generate the yaw motion. The nonlinear kinematics and dynamics of the three dof parallel manipulator with multiple closed loop chains are analyzed for tracking control of the motion platform. The tracking performances of the three control schemes are experimentally compared： the computed torque method (CTM), the sliding mode control (SMC) and the PD control. The CTM and SMC, incorporated with the system dynamics model, are found to be equally better in performance than the PD controller, irrespective of the presence of external disturbance.

• Structural Engineering and Mechanics
• /
• v.15 no.2
• /
• pp.199-223
• /
• 2003

The formulation of a non-linear shear deformable shell element is presented for the solution of stability problems of stiffened plates and shells. The formulation of the geometrical stiffness presented here is exactly defined on the midsurface and is efficient for analyzing stability problems of thick plates and shells by incorporating bending moment and transverse shear resultant force. As a result of the explicit integration of the tangent stiffness matrix, this formulation is computationally very efficient in incremental nonlinear analysis. The element is free of both membrane and shear locking behaviour by using the assumed strain method such that the element performs very well in the thin shells. By using six degrees of freedom per node, the present element can model stiffened plate and shell structures. The formulation includes large displacement effects and elasto-plastic material behaviour. The material is assumed to be isotropic and elasto-plastic obeying Von Mises's yield condition and its associated flow rules. The results showed good agreement with references and computational efficiency.

• Journal of Power System Engineering
• /
• v.20 no.1
• /
• pp.24-29
• /
• 2016

Remotely operated vehicles or autonomous underwater vehicles have been used for exploiting seabed natural resources. In this study, the autonomous underwater vehicle of hovering type(HAUV) is developed to observe underwater objects in close distance. A dynamic model with six degrees of freedom is established, capturing the motion characteristics of the HAUV. The equations of motion are generated for the dynamic control simulation of the HAUV. The added mass, drag and lift forces are included in the computer model. Computational fluid dynamics simulation is carried out using this computer model. The drag coefficients are produced from the CFD.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.67 no.2
• /
• pp.261-269
• /
• 2018

In this paper, we propose a Takagi-Sugeno (T-S) fuzzy-model-based design for the tracking control of a class of nonlinear underwater glider. By using the partial linearization and the sector nonlinearity, the underwater glider with six degrees of freedom (6 DOF) is modelled by the T-S fuzzy model. The concerned tracking control problem with $H_{\infty}$ performance is converted into the stabilization one for the error dynamics between the given nonlinear underwater glider and the reference time-varying input. Sufficient conditions are derived for the asymptotic stabilizability of the error dynamics in the format of matrix inequality. Simulation results demonstrate the effectiveness of the proposed design methodology.

• Proceedings of the IEEK Conference
• /
• 2008.06a
• /
• pp.1059-1060
• /
• 2008

In this paper, using a genetic algorithm, consisting of six to seven degrees of freedom links, walking robot to up-stair that can walk to optimize energy and stability to generate. Walking robot to up-stairs of the four-step segmentation of the various situations that match the pace and pattern so that it can generate. It also generated using genetic algorithms to test for Matlab into the Robot Simulation of the humanoid experiment was used.