• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10b
• /
• pp.370-375
• /
• 1992

An algorithm for the notion planning of the robotic hand is proposed to generate finite displacements and changes in orientation of objects by considering sliding effects between the fingertips and the object at contact points. Specifically, an optimization problem is firstly solved to find minimum contact forces and minimum joint velocities to impart a desired motion to the object at each time step. Then the instantaneous relative velocity at the contact point is found by determining velocities of the fingertip and the velocity of the object at the contact point. Finally time derivatives of the surface variables and contact angle of the fingertip and the object at the present time step is computed using the Montana's contact equation to find the contact parameters of the fingertip and the object at the next time step. To show the validity of the proposed algorithm, a numerical example is illustrated by employing the robotic hand manipulating a sphere with three fingers each of which has four joints.

• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10a
• /
• pp.72-75
• /
• 1988

Due to the fact that the set point regulation scheme by the variable structure control method concerns only the initial and final locations of a manipulator, many constraints may exist in the application of path tracking with obstracle avoidance. The variable structure parameter should be selected in the trajectory planning step by satisfying the constraints of the travel time and the path deviations This paper presents the selection algorithm of the variable structure parameters with the constraints of the system dynamics and the travel time and the path deviation. This study makes unify the trajectory planning and tracking control using the variable structure control method.

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.25 no.6
• /
• pp.614-628
• /
• 1988

In the original incremental Extended Horizon Control, the control inputs are computed recursively each step in the prediction horizon. But in this paper, we propose another incremental Extended Horizon Self-tuning Control version in which control inputs can be computed directly in any time interval. The effectiveness of this algorithm in a variable time delay or load disturbances environment is demonstrated by computer simulation. The controlled plant is a nonminimum phase system.

• Proceedings of the KIEE Conference
• /
• 1997.11a
• /
• pp.697-702
• /
• 1997

Control system of electric machine systems is often required to provide the good control performance even in the presence of various variable loads. In this study, time delay control technique is adopted to overcome such variable loads. Also, in this research a new approach of avoiding saturation by varying the reference model for the time delay control based systems subject to the step changes in reference inputs. These schemes are verified by applications to the position controls of the AC servo motor system and the engine throttle actuator.

• The Transactions of the Korean Institute of Electrical Engineers B
• /
• v.49 no.10
• /
• pp.637-645
• /
• 2000

This study was represented the improvement of the flexible position control for linear motion of hybrid type linear pulse motor(HLPM). The driving method used a minute 125 microstep drive instead of full step drive method. The digital control method was applied to the PI control for more stable position control, at this time the PI control parameters have gained by a Ziegler-Nichols turning method. The loop transfer function of control system was combined with both motor transfer function and digital PI control equation. Such, the proper for digital PI control system is verified to through the simulation and experimental result of the stability step response and bode plot with proper gain and phase margin.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2005.11a
• /
• pp.551-554
• /
• 2005

The method of the reduction of the automotive induction noise can be classified by the method of passive control and the method of active control. However, the passive control method has a demerit to reduce the effect of noise reduction at low frequency (below 500Hz) range and to be limited by a space of the engine room. Whereas, the active control method can overcome the demerit of passive control method. The algorithm of active control is mostly used the LMS (Least-Mean-Square) algorithm because the LMS algorithm can easily obtain the complex transfer function in real-time. Especially, When the Filtered-X LMS (FXLMS) algorithm is applied to an ANC system. However, the convergence performance of LMS algorithm goes bad when the FXLMS algorithm is applied to an active control of the induction noise under rapidly accelerated driving conditions. Thus Normalized FXLMS algorithm was developed to improve the control performance under the rapid acceleration. The advantage of Normalized FXLMS algorithm is that the step size is no longer constant. Instead, it varies with time. But there is one additional practical difficulty that can arise when a nonstationary input is used. If the input is zero for consecutive samples, then the step size becomes unbounded. So, in order to solve this problem. the Correlation FXLMS algorithm was developed. The Correlation FXLMS algorithm is realized by using an estimate of the cross correlation between the adaptation error and the filtered input signal to control the step size. In this paper, the performance of the Correlation FXLMS Is presented in comparison with that of the other FXLMS algorithms based on computer simulations.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.59.5-59
• /
• 2002

In this paper, we present a robust controller design method that can not only deal with the constant time delay plant but also an uncertain time delay one. For a constant time delay plant. The proposed DTC can independently adjust the set response and the disturbance response without any stability constraint. And in the uncertain time delay case, one can process the control design step with uncertainty norm bound. To verify real effectiveness, theoretical analysis and simulation results are given.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.19 no.8
• /
• pp.81-87
• /
• 2020

A stable rotational-to-linear motion transformation structure using a driving mechanism with 2 degrees of freedom was developed for an orthogonal mechanism to prevent the interference of each axis in 2D motion. In this mechanism, a step motor was used for precise position control. This structure was developed to maneuver workparts in micro particle blast machining experiments. To determine the real-time performance of micro particle blast machining, the control, input, and output were operated simultaneously and precise position control was implemented, using a timer interrupt with multiple execution codes. The two step motors obtained precise position control by removing backlash with a ball-screw mechanism. The device has menu-type control codes for user-friendliness, and real-time sequence control was simultaneously adopted for user control input.

• Transactions on Control, Automation and Systems Engineering
• /
• v.3 no.3
• /
• pp.152-158
• /
• 2001

This paper proposes a simple feedforward compensator in order to decrease the amount of undershoots and overshoots on the step response in nonminimum phase systems. The compensator makes the step type input be a ramp input with saturation for 0$\leq$t<${\alpha}$. It is shown in this paper that the compensated system has small amount of undershoot and overshoot at the price of rise time compared to the system without compensator. Also, provided the system is properly stable, the influence of the design parameter ${\alpha}$ on the step response of the nonminimum phase system is investigated in the case of Type A, and Type B undershoot, which gives a guideline for the compensator design.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.23 no.6 s.165
• /
• pp.1055-1064
• /
• 1999

In this wort ER(electro-rheological) clutch and MR(magneto-rheological) clutch are devised and their performance characteristics such as response time and controllability are compared. As a first step, field-dependent yield stresses of ER and MR fluids are distilled in shear mode. For reasonable comparison between two clutches, a nondimensional design model is established by choosing same design parameters of gap size and number. Following the manufacturing of two clutches, field-dependent torque level, response time to step input, mechanical Power generation to electric power consumption are experimentally measured and compared. In addition, in order to investigate torque controllability of the clutches a sliding mode controller is formulated and experimentally realized. Control bandwidths of two clutches are identified and tracking control responses for desired torque trajectories are presented.