• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1704-1707
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• 1997

In this work, position and vibratiion control of a two-link manipulator with one flexible link, which an unkoun but bounded payload mass and two pair of artificial muscle-type penumatic actuators, are investgated. A flexible link robot has advantages over a figid link robot in the sense that it is much safer when it cones into contact with its environment, including humans. Furthermore, for the sake of safety, it would be more desirabel if an actuator could deliver required force while maintaining proper compliance. An artificial muscle-type penumatic actuator is adequate for such cases. In this study, a controller based on singular perturbation method, adaptive and sliding mode contro, and .mu.-synthesis is developed. The effectiveness of the proposed control scheme is confirmed through simulations and experiments.

• Journal of KSNVE
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• v.7 no.2
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• pp.293-300
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• 1997

Noise and vibration induced by subway operation is one of the major problem for the residents living nearby railway tracks. Many scientists and engineers have been working on proposing the more accurate prediction equation of noise and vibration to provide the better residential environment. Some predictiction equations were determined to compare the measurement value of a noise obtained from the inside of a residential area. It was observed that the condition of a soil type is one of the major parameter which should be considered to obtain the more accurate prediction value of a noise.