• 제어로봇시스템학회논문지
• /
• 제10권8호
• /
• pp.703-710
• /
• 2004

This paper presents discontinuous zigzag gait analysis for a newly modeled quadruped walking robot with an articulated spine which connects the front and rear parts of the body. An articulated spine walking robot can move easily from side to side, which is an important feature to guarantee a larger gait stability margin than that of a conventional single rigid-body walking robot. First, we suggest a kinematic modeling of an articulated spine robot which has new parameters such as a waist-joint angle, a rotate angle of a front and rear body and describe characteristics of gait using an articulated spine. Next, we compared the difference of walking motion of newly modeled robot with that of a single rigid-body robot and analyzed the gait of an articulated spine robot using new parameters. On the basis of above result, we proposed a best walking motion with maximum stability margin. To show the effectiveness of proposed gait planning by simulation, firstly the fastest walking motion is identified based on the maximum stride, because the longer the stride, the faster the walking speed. Next, the gait stability margin variation of an articulated spine robot is compared according to the allowable waist-joint angle.

• 제어로봇시스템학회논문지
• /
• 제18권7호
• /
• pp.688-698
• /
• 2012

This paper deals with ROLSO (Reduced Order Luenberger State Observer) design to prevent jackknifing phenomenon of articulated vehicles consisting of the tractor and semi-trailer by using GPS. In addition, by applying the regulator system using ROLSO feedback system, simulation's result presents that articulated vehicle's states are stabilized than the human's PR time (Preception Response time) rapidly. This simulation verifies that the automatic control of articulated vehicle's can be applied for the accident prevention for the time that the driver is unable to manage with the sudden accident. For this simulation, by using the equation of planar motion, the modeling of the articulated vehicle was performed. This modeling was expressed in the state space model. And FOLSO (Full Order Luenberger State Observer), ROLSO were designed by using the state space model of an articulated vehicle's dynamics.

• 한국소성가공학회:학술대회논문집
• /
• 한국소성가공학회 2003년도 추계학술대회논문집
• /
• pp.25-28
• /
• 2003

The articulated piston that was used to more powerful diesel engine was composed by Al casted skirt part and steel forged crown part. this paper has the target to design the forging process of crown part. The parameters of piston design and forging process design were gotten based on work experience, experimental data, approximately calculated data and finite element analysis. Preform design parameter decided using the Taguchi method. Through this research, could design optimal shape of preform and produce prototype of the articulated piston

• Transactions on Control, Automation and Systems Engineering
• /
• 제3권4호
• /
• pp.272-282
• /
• 2001

Uncertainties are the main reasons of deterioration of contour control of industrial articulated robot arm. In this paper, a high-precision contour control method was proposed to overcome some main uncertainties, such as torque saturation, system delay dynamics, interference between robot links, friction, and so on. Firstly, each considered factor of uncertainties was introduced briefly. Then proper realizable objective trajectory generation was presented to avoid torque saturation from objective trajectory. According to the model of industrial articulated robot arm, construction of Gaussian neural network controller with considering system delay dynamic, interference between robot links and friction was explained in detail. Finally, through the experiment and simulation, the effectiveness of proposed method was verified. Furthermore, based on the results it was shown that the Gaussian neural network controller can be also adapted for the various kinds of friction and high-speed motion of industrial articulated robot arm.

• International Journal of Control, Automation, and Systems
• /
• 제1권4호
• /
• pp.464-473
• /
• 2003

A method for force-free control is proposed to realize pull-out work by an industrial articulated robot arm. This method achieves not only non-gravity and non-friction motion of an articulated robot arm according to an exerted force but also reflects no change in the structure of the servo controller. Ideal performance of a pull-out work by the force-free control method was assured by means of simulation and experimental studies with a two-degree-of-freedom articulated robot arm.

• 동력기계공학회지
• /
• 제11권2호
• /
• pp.58-63
• /
• 2007

Vehicular safety and occupant injury have been of considerable interest to the public. The dynamic response of an articulated vehicle is different from that of single body vehicle due to its geometric and inertia properties. Articulated vehicles have the tendency to jackknife if they lose driving safety. Influence of factors for driving safety of an articulated vehicle(Tractor-Semitrailers) has been analysed by the EDVTS, a kinetic analysis program for an articulated vehicle. EDVTS permits an analyst to investigate the effect of many variables in a short period of time, and enables to obtain an accurate explanation of driving safety. The factors used in the analysis include the load, friction coefficient, tire flat, increase of braking force, and trailer geometry. Based on the results, the articulation angle and driving safety were influenced remarkably by the load, coefficient of friction, increase of braking force. However, trailer geometry, such as length and width, did not affect articulation angle and driving safety

• Wind and Structures
• /
• 제11권2호
• /
• pp.97-120
• /
• 2008

Wind and wave loadings have a predominant role in the design of offshore structures in general, and articulated tower in particular for a successful service and survival during normal and extreme environmental conditions. Such towers are very sensitive to the dynamic effects of wind and wind generated waves. The exposed superstructure is subjected to aerodynamic loads while the submerged substructure is subjected to hydrodynamic loads. Articulated towers are designed such that their fundamental frequency is well below the wave frequency to avoid dynamic amplification. Dynamic interaction of these towers with environmental loads (wind, waves and currents) acts to impart a lesser overall shear and overturning moment due to compliance to such forces. This compliancy introduces geometric nonlinearity due to large displacements, which becomes an important consideration in the analysis of articulated towers. Prediction of the nonlinear behaviour of these towers in the harsh ocean environment is difficult. However, simplified realistic mathematical models are employed to gain an important insight into the problem and to explore the dynamic behaviour. In this paper, various modeling approaches and solution methods for articulated towers adopted by past researchers are reviewed. Besides, reliability of articulation system, the paper also discussed the design, installation and performance of articulated towers around the world oceans.

• 한국기계가공학회지
• /
• 제20권4호
• /
• pp.16-23
• /
• 2021

Currently, 6-axis articulated robots are used throughout the industry because of their 6-dof (degrees of freedom) and usability. However, 6-axis articulated robots have a fixed base and their movements are limited by the rotational operating range of each axis. If the angle of the 2-axis additional axes can be adjusted according to the position and orientation of the end-effector of the 6-axis articulated robot, the effectiveness of the 6-axis articulated robot can be further increased in areas where the angle is important, such as welding. Therefore, in this paper, we proposed a cooperative kinematic inter-operation strategy. The strategy will be verified using the Simulink of MATLABⓇ, an engineering program, and RecurdynⓇ, a dynamic simulation program.

• 대한후두음성언어의학회지
• /
• 제5권1호
• /
• pp.44-58
• /
• 1994

The formants of the 9 Korean standard vowels(which used by the average people of Seoul, central-area of the Korean peninsula) were measured by analysis with the linear predictive coding(LPC) and fast Fourier transform(FFT). The author already had reported the constriction area for the Korean standard vowels, and with the existing data, the distance from glottis to the constriction area in the vocal tract of each vowel was newly measured with videovelopharyngograms and lateral Rontgenograms of the vocal tract. We correlated the formant frequencies with the distance from glottis to the constriction area of the vocal tract. Also we tried to correlate the formant frequencies with the position of tongue in the vocal tract which is divided into 2 categories : The position of tongue in oral cavity by the distance from imaginary palatal line to the highest point of tongue and the position in pharyngeal cavity by the distance from back of tongue to posterior pharyngeal wall. This study was performed with 10 adults(male : 5, female : 5) who spoke primary 9 Korean standard vowels. We had already reported that the Korean vowel [i], [e], $[{\varepsilon}]$ were articulated at hard palate level, [$\dot{+}$], [u] were at soft palate level, [$\wedge$] was at upper pharynx level and the [$\wedge$], [$\partial$], [a] in a previous article. Also we had noted that the significance of pharyngeal cavity in vowel articulation. From this study we have concluded that ; 1) The F$_1$ is related with the oral cavity articulated vowel [i, e, $\varepsilon$, $\dot{+}$, u]. 2) Within the oral cavity articulated vowel [i, e, $\varepsilon$, $\dot{+}$, u] and the upper pharynx articulated vowel [o], the F$_2$ is elevated when the diatance from glottis to the constriction area is longer. But within the lower pharynx articulated vowel [$\partial$, $\wedge$, a], the F$_2$ is elevated when the distance from glottis to the constriction area is shorter. 3) With the stronger tendency of back-vowel, the higher the elevation of the F$_1$ and F$_2$ frequencies. 4) The F$_3$ and F$_4$ showed no correaltion with the constriction area nor the position of tongue in the vocal tract 5) The parameter F$_2$- F$_1$, which is the difference between F$_2$ frequency and F$_1$ frequency showed an excellent indicator of differenciating the oral cavity articulated vowels from pharyngeal cavity articulated vowels. If the F$_2$-F$_1$ is less than about 600Hz which indicates the vowel is articulated in the pharyngeal cavity, and more than about 600Hz, which indicates that the vowel is articulated in the oral cavity.

• 한국생산제조학회지
• /
• 제23권1호
• /
• pp.75-82
• /
• 2014

For accurate gain tuning of the lab-manufactured six-axis articulated robot RS2 with less noise, in this study, a program routine using dynamic signal analyzer, which is a realization of a controller design algorithm in the frequency domain, is programmed using LabVIEW$^{(R)}$. The contribution of this paper is the proposal of a simulation technique based on SolidWorks$^{(R)}$ and LabVIEW$^{(R)}$ for the gain tuning of a six-axis articulated robot. To realize the simulation, the LabVIEW$^{(R)}$ program used for experimental gain tuning is incorporated in to SolidWorks$^{(R)}$. A comparison shows that the results of simulation-based gain tuning and experimental gain tuning are almost the same within a 5% error bound. On the basis of the comparison, it can be suggested that the simulation-based technique for gain tuning can be applied instead of experimental gain tuning to a six-axis articulated robot by interlocking SolidWorks$^{(R)}$ and LabVIEW$^{(R)}$.