• Journal of the Computational Structural Engineering Institute of Korea
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• v.13 no.3
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• pp.305-319
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• 2000

Numerical solution lot frictional contact problems of nonlinearly deformable bodies having large deformation is presented. The contact conditions on the possible contact points are expressed by using the contact error vector, and the iterative scheme is used to reduce the contact error vector monotonically toward zero. At each iteration the solution consists of two steps : The first step is to revise the contact force by using the contact error vector given by the previous geometry, and the second step is to compute the displacement and the contact error vector by solving the equilibrium equation with the contact force given at the first step. Convergence of the iterative scheme to the correct solution is analyzed, and the numerical simulations we performed with a rigid-plastic membrane and a nonlinear elastic beam.

• Journal of Mechanical Science and Technology
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• v.16 no.10
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• pp.1276-1286
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• 2002

The numerical techniques are presented to solve the static and dynamic contact problems of deformable bodies having large rotations of the contact surfaces. The contact conditions on the possible contact surfaces are enforced by using the contact error vector, and an iterative scheme similar to augmented Lagrange multiplier method is employed to reduce the contact error vector monotonically. For dynamic contact problems using implicit time integration, a contact error vector is also defined by combining the displacement, velocity, and acceleration on the contact surface. The suggested iterative technique is implemented to ABAQUS by using the UEL subroutine UEL. In this work, after the computing procedures to solve the frictional contact problems are explained, the numerical examples are presented to compare the present solutions with those obtained by ABAQUS.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.2
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• pp.10-19
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• 1996

This paper presents a finger-shaped multisensor system which can measure the tyep and position of a target surface by contactl. The multi-sensor system consists of a sphere-shpaed optical tactile sensor located at the finger tip and a force/torque sensor located at the joint of a finger. The optial tactile sensor determines the type and position of the target surface using the shape and position of the CCD image of the touching area generated by a contact between the sensor and the taget surface. The force/torque sensor also determines the position and surface normal vector by applying the distributionof forces and torques t the contact point to the equations of finger shape. The measurements on the position and surface normal vector at a contact point obtined by two individual sensors are fused using a statistical method. The integrated sensor system has 0.8mm error in position measurement and 1.31$^{\circ}$ error in normal vector measurement. The developed sensor system has many applications, such as autonomous compliance control, automatic grasping and recognition, etc.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.5
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• pp.1243-1250
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• 1995

For the numerical solution of frictional dynamic contact problems, correct contact points and displacements are determined by iteratively reducing the displacement error vector monotonically toward zero And spurious oscillations are prevented from the solution by enforcing the velocity and acceleration compatibilities of the contact points with the corresponding error vectors. Numerical simulations are conducted to demonstrate the accuracy of the solution and the necessity of the velocity and acceleration compatibilities on the contact surface.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.1-6
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• 1992

A principle of "orthogonalization" is proposed as an extended notion of hybrid (force and position) control for robot manipulators under geometric endpoint constraints. The principle realizes the hybrid control in a strict sense by letting position and velocity feedback signals be orthogonal in joint space to the contact force vector whose components are exerted at corresponding joints. This orthogonalization is executed via a projection matrix computed in real-time from a gradient of the equation of the surface in joint coordinates and hence both projected position and velocity feedback signals become perpendicular to the force vector that is normal to the surface at the contact point in joint space. To show the important role of the principle in control of robot manipulators, three basic problems are analyzed, the first is a hybrid trajectory tracking problem by means of a "modified hybrid computed torque method", the second is a model-based adaptive control problem for robot manipulators under geometric endpoint constraints, and the third is an iterative learning control problem. It is shown that the passivity of residual error dynamics of robots follows from the orthogonalization principle and it plays a crucial role in convergence properties of both positional and force error signals.force error signals.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.6
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• pp.148-159
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• 1999

A numerical method is presented for the dynamic analysis of spur gears rotating with very high angular speeds. For an efficient computation each gear is assumed to consist of a rotating rigid disk and an elastic tooth having mass, and finite element formulations are used for the equations of motion of the tooth. The geometric constraint is imposed between the rigid disk and the elastic tooth to fix them, and contact condition is imposed between the meshing teeth of the gears. At each iteration of each time step the Lagrange multiplier and contact force are revised by using the constraint error vector, and then the whole equations of motion are time integrated with the given Lagrange multiplier and contact force. For the accurate solution the velocity and acceleration constraints as well as the displacement constraint are satisfied by the monotone reductions of the constraint error vectors. Computing procedures associated with the iterative schemes are explained and numerical simulations are conducted with the spur gears.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.7
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• pp.1674-1684
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• 1994

An efficient iterative method is presented for the dynamic analysis of bodies moving on flexible structures. In contrast to traditional approaches, the nominal motion of the body is considered here as an unknown. The correct contact forces between the bodies and the flexible structures are computed by an iterative method reducing the specially defined error vectors to zero, and thus satisfying the constraints between the bodies and the structures. Even thought only simple equations of motions and simple time integrators are adopted, the correct solutions are economically obtained and the Timoshenko paradox is completely resolved. Numerical simulations are conducted demonstrate the accuracy and reliability of the solution and to compare the results with the reference.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.12 no.4
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• pp.249-260
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• 2008

In this work we propose a mixed finite volume method for the Signorini problem which are based on the idea of Keller's finite volume box method. The triangulation may consist of both triangles and quadrilaterals. We choose the first-order nonconforming space for the scalar approximation and the lowest-order Raviart-Thomas vector space for the vector approximation. It will be shown that our mixed finite volume method is equivalent to the standard nonconforming finite element method for the scalar variable with a slightly modified right-hand side, which are crucially used in a priori error analysis.

• Current Optics and Photonics
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• v.8 no.3
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• pp.300-306
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• 2024

To solve the nozzle swing angle non-contact measurement problem, we present a nozzle pose estimation algorithm involving weighted measurement uncertainty based on rotation parameters. Firstly, the instantaneous axis of the rocket nozzle is constructed and used to model the pivot point and the nozzle coordinate system. Then, the rotation matrix and translation vector are parameterized by Cayley-Gibbs-Rodriguez parameters, and the novel object space collinearity error equation involving weighted measurement uncertainty of feature points is constructed. The nozzle pose is obtained at this step by the Gröbner basis method. Finally, the swing angle is calculated based on the conversion relationship between the nozzle static coordinate system and the nozzle dynamic coordinate system. Experimental results prove the high accuracy and robustness of the proposed method. In the space of 1.5 m × 1.5 m × 1.5 m, the maximum angle error of nozzle swing is 0.103°.

• Journal of the Korean Society for Precision Engineering
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• v.11 no.2
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• pp.50-64
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• 1994

Cutter deflections in the ball-end milling process is one of the main causes of the machining errors on a free-form surface. In order to avoid machining errors in this process, a methodology avoiding these machining errors on the free-form surfaces has been developed. In this method, feedrates in the finish cuts are adjusted for the prevention of machining errors. A model for the prediction of machining errors on the free-form surface is analytically derived as a function of feed and normal vector at the surface of contact point by the cutter. This model is applied to the dertermination of the adjusted feedrates which satisfy the machining tolerance of the surface. In the finish cuts of a simple curved surface, the suggested model is examined by the measurements of the generated machining error on this surface. And also, this surface is machined with the adjusted feedrates for the given machining tolerance. The measured machining errors on this surface are compared with the given tolerance. In this comparisons, it is shown that the predicted errors are fairly good agreement with the test results.