• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.180-185
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• 2003

In order to enhance dexterity in execution of robot tasks, a redundant number of degrees-of-freedom (DOF) is adopted for design of robotic mechanisms like robot arms and multi-fingered robot hands. Associated with such redundancy in the number of DOFs relative to the number of physical variables necessary and sufficient for description of a given task, an extra performance index is introduced for controlling such a redundant robot in order to avoid arising of an ill-posed problem of inverse kinematics from the task space to the joint space. This paper shows that such an ill-posedness of DOF redundancy can be resolved in a natural way by using a novel concept named “stability on a manifold”. To show this, two illustrative robot tasks 1) robotic handwriting and 2) control of an object posture via rolling contact by a multi-DOF finger are analyzed in details.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.05a
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• pp.607-612
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• 2004

Disc brake noise continues to be a major concern throughout the automotive industry despite efforts to reduce its occurrence. Eliminating vibrations during braking is an important task for both vehicle passenger comfort and reducing the overall environmental noise levels. There are several classes of disc brake noise, the major ones being squeal, judder, groan, and moan. In this study, analytical model for moan noise of rear disk brake is investigated. Modeling of the disc brake assembly to take account of the effect of different geometrical and contact parameters is studied through the use of multi-body model. The contact stiffness of the caliper and torque member plays an important role in controlling brake vibration. Therefore, a suitable material pair at the caliper/body contact has been made. An ADAMS model of a rear disc brake system was integrated with a flexible suspension trailng arm from MSC/NASTRAN. A fully non-linear dynamic simulatin of brake system behavior, containing rigid and flexible bodies, was performed for a Prescribed set of operating conditions. Simulation results were validated using data from vehicle experimental testing.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.2
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• pp.161-167
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• 2006

In this paper, lateral force control of a mobile robot with slip is presented. First, the bicycle model of a mobile robot is derived for the front steering. Second, impedance force control algorithm is applied to regulate contact force with environment. The desired distance is specified conservatively inside the environment to guarantee to make contact. Different stiffness of environment has been tested for force tracking task. Simulation results show that the proposed control algorithm works well to maintain desired contact force on the environment.

• Proceedings of the KIEE Conference
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• 1995.11a
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• pp.575-578
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• 1995

In general, the control of robot manipulator is classified into position control and force control. Position controllers give adequate performance when a manipulator is following a trajectory through space and end-effector has no contact with environment. However for most tasks performed by robot manipulator in industry, contact is made between the end-effector and manipulator's environment, so position control may not suffice. The objective of this study is to control both position of a manipulator and the contact forces generated at the hand by using a conceptually simple control law. Position and force control problem is decoupled into subtasts via taskspace formulation and inverse dynamics. Then, the position controllers are designed for the task space variable which represent tangent motion and the forte controllers are designed for the lash space variables which represent normal force.

• The Journal of Korea Robotics Society
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• v.3 no.1
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• pp.9-15
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• 2008

Unlike robotic systems, humans excel at a variety of tasks by utilizing their intrinsic impedance, force sensation, and tactile contact clues. By examining human strategy in arm impedance control, we may be able to teach robotic manipulators human''s superior motor skills in contact tasks. This paper develops a novel method for estimating and predicting the human joint impedance using the electromyogram(EMG) signals and limb position measurements. The EMG signal is the summation of MUAPs (motor unit action potentials). Determination of the relationship between the EMG signals and joint stiffness is difficult, due to irregularities and uncertainties of the EMG signals. In this research, an artificial neural network(ANN) model was developed to model the relation between the EMG and joint stiffness. The proposed method estimates and predicts the multi joint stiffness without complex calculation and specialized apparatus. The feasibility of the developed model was confirmed by experiments and simulations.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.2
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• pp.190-196
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• 2000

A hybrid position/force control scheme to regulate the force and position by dual arms is proposed where two arms are treated as one rm in a kinematic viewpoint. The force error calculated from the information of two force/torque sensors attached to the end of each arm is transferred to minimum configuration space coordinates and then is distributed to total system joint coordinates, The position adjustment at the total con-figuration coordinates is computed based on the effective compliance matrix with respect to total joint coordinates which is obtained by coordinate transformation between the task coordinates and the total joint coordinates. The proposed scheme is applied to sawing task. When the trajectory of the saw is planned to follow a line in a horizontal plane 2 position parameters are to be controlled(i.e., two translational positions) Also a certain level of contact force has to be controlled along the vertical direction(i.e. minus z-direction) not to loose the contact with the object to be sawn. We experimentally show that the performance of the velocity and force response are satisfactory. The proposed hybrid control scheme can be applied to arbitrary two cooperating arm system regardless of their kinematic structure and the number of actuated joints.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1742-1745
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• 1997

We have developed a highly responsible probing system for inspection of electrical properties of assemble PCB$_{s}$ (printed circuit boards). However, as the duration of the impact occurring between a probe and a solder joint on PCB is very short, it is very difficult to control the harmful peak impact force and the slip motion of the probe to sufficient level only by its vorce feedback control with high gains. To overcome these disadvantages of the prototype, it needs ot obtain some information of the solder joint in advance before the contact. In addition, to guarantee the reliability of the probing task, the probing system is required to measure several points around the probale target point at high speed. There fore, to meet such requirements, we propose a new noncontaet sensor capable of detecting simultaneously position and normal vectors of the multiple points around the probable target point in real time. By using this information, we can prepare a control strategy for stable contact motion on impact. In this paper, we described measuring priniciple, design, and development of the sensor. The effectiveness of the proposed sensor is verified through a series of experiments.s.

• Journal of Ocean Engineering and Technology
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• v.28 no.5
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• pp.423-428
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• 2014

Ice loads may be conveniently categorized as local ice loads and global ice loads. Local ice loads are often defined as ice pressures acting on local areas of shell plates and stiffeners. Therefore, local ice loads are defined in all ice class rules. However, directly measuring the local ice pressure using the actual ice class vessel is a very difficult task because appropriate instruments for direct measurement must be installed on the outer hull, and they are easily damaged by direct ice contacts/impacts. This paper focuses on the estimation of the local ice pressure using the data obtained from icebreaking tests in the Arctic sea in 2010 using the Korean icebreaking research vessel (IBRV) ARAON. When she contacted the sea ice, the local deformation of the side shell was measured by the strain gauges attached to the inside of the shell. Simultaneously, the contact area between the side shell and sea ice is investigated by analyzing the distribution of the measured strain data. Finally, the ice pressures for different contact areas are estimated by performing a structural analysis.

• The Journal of Korea Robotics Society
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• v.8 no.3
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• pp.186-196
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• 2013

Since its introduction (e.g., [4, 6]), virtual coupling technique has been de facto way to connect a haptic device with a virtual proxy for haptic rendering and control. However, because of the single dependence on spring-damper feedback action, this virtual coupling suffers from the degraded transparency particularly during contact tasks when large device/proxy-forces are involved. In this paper, we propose a novel virtual coupling technique, which, by utilizing passive decomposition, reduces device-proxy position deviation even during the contact tasks while also scaling down (or up) the apparent inertia of the coordinated device-proxy. By doing so, we can significantly improve transparency between multiple degree of freedom (possibly nonlinear) haptic device and virtual proxy. In other to use passive decomposition, disturbance observer of [3] is adopted to estimate human force with some dead-zone modification to avoid "winding-up" force estimation in the presence of device torque saturation. Some preliminary experimental results are also given to illustrate efficacy of the proposed technique.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.130-134
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• 1992

The ability of a robot system to comply to an environment via the control of tool-environment interaction force is of vital for the successful task accomplishment in many robot application. This paper presents the implementation of external force control for two dimensional contour following task using a commercial robot system. Force accommodation is used since a constraint imposed in our work is not to modify the commercial robot system. A linear, decoupled model of two dimensional contour following system in the discrete time domain is derived first. Then the experimental verification of linear control is obtained using a PUMA 560 manipulator with standard Unimation controller, Astek FS6-120A six axis wrist force sensor attached externally to the arm and LSI-11173 microcomputer. Experimentally obtained data shows that the RMS contact force error is 0.8246 N when following the straight edge and 2.3768 N when following 40 mm radius curved contour.