• 한국정밀공학회지
• /
• 제13권10호
• /
• pp.123-129
• /
• 1996

Computed torque method has been used for precise trajectory control of the robotic system that involves nonlinear dynamics. It is hard to know exact values of robot system parameters, and the robot arm receives umpredictable interference from the working environment. These disturbances, especially in a direct drive robot, are directly transmitted to actuating motor without reduction. Modelling error and distrubance can cause significant errors in a trajectory tracking problem. In this paper, we propose a new controller that $H_{\infty}$controller is conbined to robot system linearized by computed torque. Simula- tions are made for comparing the performance of the proposed controller with that of a nonlinear $H_{\infty}$ controller proposed by Chen and also computed torque method.hod.

• Journal of Power Electronics
• /
• 제16권1호
• /
• pp.205-216
• /
• 2016

The manufacturing sector resorts to automation to increase production and homogeneity of products during mass production, without increasing scarce, expensive, and unreliable manpower. Automation in the form of multiple robotic arms that handle materials in all directions in different stages of the process is proven to be the best way to increase production. This paper thoroughly investigates robotic single-arm movements, that is, 360° vertical rotation, with the help of a brushless DC motor, controlled by a fuzzy proportional-integral-derivative (PID) controller. This paper also deals with the design and performance of the fuzzy-based PID controller used to control vertical movement against the limited scope of conventional PID feedback controller and how the torque of the arm is affected by the fuzzy PID controller in the four quadrants to ensure constant speed and accident-free operation despite the influence of gravitational force. The design was simulated through MATLAB/SIMULINK and integrated with dSPACE DS1104-based hardware to verify the dynamic behaviors of the arm.

• Journal of Korean Neurosurgical Society
• /
• 제53권5호
• /
• pp.288-292
• /
• 2013

Objective : Vertebral distraction is routinely performed during anterior cervical discectomy and fusion (ACDF). Overdistraction can injure the facet joints and may cause postoperative neck pain consequently. The purpose of this study was to investigate the clinical relevance of distraction force during ACDF. Methods : This study included 24 consecutive patients with single level cervical disc disease undergoing single level ACDF. We measure the maximum torque just before the the arm of the Caspar retractor was suspended by the rachet mechanism by turning the lever on the movable arm using a torque meter. In order to turn the lever using the torque driver, we made a linear groove on the top of the lever. We compared the neck disability index (NDI) and visual analogue scale (VAS) scores between the high torque group (distraction force>6 $kgf{\cdot}cm$) and the low torque group (distraction force${\leq}6kgf{\cdot}cm$) at routine postoperative intervals of 1, 3, 5 days and 1, 3, 6 months. Results : The VAS scores for posterior neck pain had a linear correlation with torque at postoperative 1st and 3rd days ($y=0.99{\times}-1.1$, $r^2=0.82$; $y=0.77{\times}-0.63$, $r^2=0.73$, respectively). VAS scores for posterior neck pain were lower in the low torque group than in the high torque group on both 1 and 3 days postoperatively ($3.1{\pm}1.3$, $2.6{\pm}1.0$ compared with $6.0{\pm}0.6$, $4.9{\pm}0.8$, p<0.01). However, the difference in NDI scores was not statistically significant in all postoperative periods. Conclusion : Vertebral distraction may cause posterior neck pain in the immediate postoperative days. We recommend not to distract the intervertebral disc space excessively with a force of more than 6.0 $kgf{\cdot}cm$.

• 대한전기학회논문지
• /
• 제40권8호
• /
• pp.816-824
• /
• 1991

It is well known that dynamic control is needed for fast and accurate control. Neural networks are ideal for representing the strongly nonlinear relationship in the dynamic equations including complex unmodeled effects. It thus creates many advantages over conventional methods such as simple, fast and accurate control through neural network's inherent learning and massive parallelism. In this paper, dynamic control of the full six degrees of freedom of an industrial robot arm will be presented using neural networks. Moreover, through application to a real robot the usefulness of neurocontrol is demonstrated. The back propagation and feedback-error learning is used to train the neurocontroller. Simulated control of a PUMA 560 arm demonstrates that it moves at high speed with good accuracy and generalizes over untrained trajectories as well as adapt to unforseen load changes and sensor noise.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
• /
• pp.896-901
• /
• 1990

A simulation analysis is presented for the position control of a single-link flexible manipulator whose end-effector is subjected to an impulsive force. Arm is rotated by a d.c. servomotor at the shoulder so that the end point stays precisely at its initial position even if the end effector is thumped with the impulsive loading. A gap sensor is used to measure the tip displacement. The control torque based on the PD control law is applied to the motor through the driver circuit. The control strategy is tested by means of computer simulation for the one-link flexible-arm prototype in the authers' laboratory at Tohoku Univ.

• 전자공학회논문지B
• /
• 제33B권7호
• /
• pp.40-50
• /
• 1996

An unified compliant control algorithm to regulate the force by dual arms is proposed, where tow arms are treated as one arm in a kinematic viewpoint. The force error calculated form the information of two force/torque sensors attached to the end of each arm is transferred to minimum actuator coordinates, and then is distributed to total system actuator coordinates. The position adjustment at the total actuator coordinates is computed based on the effective computed based on the effective compliance matrix with respect to total actuator coordinates, which is obtained by coordinate transformation between the task coordinates and the total actuator coordinates. An experiment is carried out for dual arms with asymmetric kinematic structure to control an interaction force between manipulators and the environment. The performances of the proposed control algorithm are experimentally compared to those of dual arms employing master/slave scheme. The proposed compliant control algorithm not only ouperforms other algorithms, but also can be treated as an unified approach n the sense that it can be applied to arbitrary dual arm systems with general kinematic structures.

• 대한전기학회논문지
• /
• 제40권2호
• /
• pp.200-206
• /
• 1991

In this paper, an output feedback is used to reduce the effect of the vibration in the control of a flexible one-link robot arm. A PD control method with a time varying gain is proposed to improve the performance of the system in tip deflection and settling time for the step reference input. By making the change of feedback gain smoothly, th input torque can be made smooth. When there is a payload with unknown mass, an interpolation method which uses the inrehgrated value of the transient response of the hub angle is proposed for the estimation of teh payload mass. This method can be used when the reference input is known and we can get highly accurate estimate for the unknown payload. It is also demonstrated that flexible one-link arm can be controlled prettry accurately by an output feedback in a noisy environment without knowing the mass of the payload.

• 전기학회논문지
• /
• 제61권1호
• /
• pp.57-63
• /
• 2012

A surfaced permanent magnet spherical motor is capable of operating as three degree of freedom that used for the joints of the robot's arm, leg, and eyes. Ongoing research like new concept is essential part of motor field, it will make a great contribution in the future the overall portion of the motor, is becoming expected. The author analysis torque characteristics in spherical motor with state of rotating and positioning. And future design direction is smaller motors with equivalent or higher output. Solutions as torque and efficiency improvements are selecting the core with special processing type like powder metallurgy materials. Their special characteristic is high permeability and low eddy current losses at high speed, so improved the torque and efficiency.

• Tribology and Lubricants
• /
• 제39권2호
• /
• pp.76-80
• /
• 2023

This paper describes an experimental investigation of the effect of cooling flow rate on gas foil thrust bearing (GFTB) performance. In a newly developed GFTB test rig, a non-contact type pneumatic cylinder provides static loads to the test GFTB and a high-speed motor rotates a thrust runner up to the maximum speed of 80 krpm. Force sensor, torque arm connected to another force sensor, and thermocouples measures the applied static load, drag torque, and bearing temperature, respectively, for cooling flow rates of 0, 25, and 50 LPM at static loads of 50, 100, and 150 N. The test GFTB with the outer radius of 31.5 mm has six top foils supported on bump foil structures. During the series of tests, the transient responses of the bearing drag torque and bearing temperature are recorded until the bearing temperature converges with time for each cooling flow rate and static load. The test data show that the converged temperature decreases with increasing cooling flow rate and increases with increasing static load. The drag torque and friction coefficient decrease with increasing cooling flow rate, which may be attributed to the decrease in viscosity and lubricant (air) temperature. These test results suggest that an increase in cooling flow rate improves GFTB performance.

• 한국운동역학회지
• /
• 제16권4호
• /
• pp.153-164
• /
• 2006

This thesis is focused on kinematical and kinematical analysis of each types(Type #1 : use both swing of arm and reaction of knee, Type #2 : Use only swing of arm, not reaction of knee, type #3 : Neither use of swing of arm nor reaction of knee) of vertical jumps according to gender of High School Students. The subjects of this study is High School Student's male and female, 5 each, for analyzation of actions 3D image analyzing and GRF machines were used. To identify the differences of analyzed variables, an independent T-test on gender, an One-way ANOVA on types were used. Summery of the results are stated below. first of all, female students showed differences on Hip Joint angle and Joint Velocity from male students on Kimentic Variable. So training on hip joint force of flection and extension of female students is needed. Both male and female students showed relatively bigger result of arm's Angular Momentum than thigh's Angular Momentum on Type #1. This is regarded of faster Joint Velocity of Arm. Bigger result of female students of arm's contribution on Type #1 than male students can be said as Female student's weaker hip joint's angular muscle force than male student's, so the dependency of arm is heavier than male students. In Kinetic variable, GRF showed bigger result on male students than female students. So female students need to enhance joint's torque to increase GRF than male students. On vertical Impulse, high numeric data of last two reaction of tiptoe of vertical GRF and antero-posterior GRF helped increasing impulse by extending action time of force.