• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1424-1429
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• 2004

In this paper a mathematical framework for deriving acceleration bounds from given joint torque limits of multiple cooperating robots are described. Especially when the different frictional contacts for every contact are assumed and the torque limits are given in 2-norm sense, we show that the resultant geometrical configuration for the acceleration is composed of corresponding parts of ellipsoids. Since the frictional forces at the contacts are proportional to the normal squeezing forces, the key points of the work includes how to determine internal forces exerted by each robot in order not to cause slip at the contacts while the object is carried by external forces. A set of examples composed of two robot systems are shown with point-contact-with-friction model and insufficient or proper degree of freedom robots.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 V
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• pp.2717-2720
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• 2003

A mathematical framework for deriving acceleration bounds from given joint torque limits of two cooperating robots are described in this paper. Especially when the torque limits are given in 2-norm, the resultant geometrical configuration is ellipsoid(the ellipsoid is often called manipulability ellipsoid in many works). At first, the mathematical derivation starts from the dynamics of both object and robots as well as the kinematics of the robots, and is finally arranged in a form of equation relating joint torques to object acceleration through a complete constraint contact(or “very-soft contact”). To show the usefulness of the proposed method, two examples are included, and especially the case where friction effects the ellipsoid shape is also considered In the example.

• 대한기계학회논문집A
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• 제21권8호
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• pp.1209-1217
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• 1997

This paper proposes the modeling of the dynamics of two cooperating robot manipulators performing the assembly job such as peg-in-hole while coordinating the payload along the desired path. The mass and moment of inertia of the manipulators and the payload are assumed to be unknown. To control the uncertain system, a robust control algorithm based on the computed torque control is proposed. Usually, the robust controller requires high input torques such that it may face input saturation in actual application. In this reason, the robust control algorithm includes fuzzy logic such that the magnitude of the input torque of the manipulators is controlled not to go over the hardware saturation while keeping path tracking errors bounded. A numerical example using dual three degree-of-freedom manipulators is shown.

• 화약ㆍ발파
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• 제23권3호
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• pp.11-18
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• 2005

MS 지발 전기뇌관을 사용하는 발파형태에 있어 파형은 거리와 주파수 정도에 따라 인접 단차 간 간섭의 정도가 상이하다. 이 간섭의 정도는 계측지점에서 발파진동의 크기에 영향을 미친다. 본 연구에서는 40ms 간격으로 분리되어 기폭되는 MS 지발 발파의 협동장약 특성을 고찰하고 MS지발 발파에서 발파진동의 협력을 최소화 할 수 있는 주파수에 따른 시차 설계 방법을 제시하였다.

• 터널과지하공간
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• 제15권4호
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• pp.316-323
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• 2005

파형 분석결과에 의하면 파형의 분리는 높은 주파수에서는 잘 이루어지지만 낮은 주파수에서는 파형분리가 잘 이루어지지 않는다. 협동장약과 주파수의 관계를 규명하기 위하여 측정된 자료를 60 Hz 미만의 경우와 60 Hz 이상의 경우로 분리하여 분석하였으며, 고주파 성분의 특성을 고려하기 위하여 70 Hz 이상의 측정 자료에 대해서도 분리하여 분석하였다.

• 통상정보연구
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• 제6권3호
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• pp.137-157
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• 2004

It is very necessary to find how to develop international government procurement by analyzing functions and roles of information providing circumstance and existing total international government procurement information system. In addition, it would require to draw up a way of improving current international government procurement information system based on the problems of existing system. In this study, we analyze the current status of Korean international government procurement information system and give an idea of mutual cooperating with DGMARKET, a good example of international government procurement information system. As a practical method, cooperating with DGMARKET by building each countries' gateway will be very helpful in cost saving and providing information. It will also complement the limitation of Korean system's one way service. But supplying only international government procurement information is insufficient in realization of e-trade in international goverment procurement market. To settle these problems, treating international government procurement as a same field of trade and giving political support and incentive to company which hopes to participate international goverment procurement are absolutely needed.

• Journal of Mechanical Science and Technology
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• 제14권2호
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• pp.188-196
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• 2000

In this paper, our aim is to develop a model for two cooperating flexible manipulators handling a rigid object by using lumped parameters. This model is in turn analyzed on MATLAB. In order to validate the model, a precise simulation model is developed using $ADAMS^{TM}$ (Automatic Dynamic Analysis of Mechanical System). Moreover, to clarify the discussion, the motions of a dual-arm experimental flexible manipulator are considered. Using the developed model, we control a robotic system with a symmetric hybrid position/force control scheme. Finally, experiments and simulations are performed, and a comparison of simulation results with experimental results is given to a rerify the validity of our model.

• 제어로봇시스템학회논문지
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• 제10권10호
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• pp.887-898
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• 2004

In this paper a mathematical framework fur deriving acceleration bounds from given joint torque limits of multiple cooperating robots are described. Especially when the different frictional contacts for every contact are assumed and the torque limits are given in 2-norm sense, we show that the resultant geometrical configuration for the acceleration is composed of corresponding parts of ellipsoids. Since the frictional forces at the contacts are proportional to the normal squeezing forces, the key points of the work includes how to determine internal forces exerted by each robot in order not to cause slip at the contacts while the object is carried by external forces. A set of examples composed of two robot systems are shown with point-contact-with-friction model and insufficient or proper degree of freedom robots.

• 제어로봇시스템학회논문지
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• 제10권10호
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• pp.930-939
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• 2004

In this paper, both dynamic constraints and kinematic constraints are considered for the analysis of manipulability of robotic systems comprised of multiple cooperating arms. Given bounds on the torques of each Joint actuator for every robot, the purpose of this study is to drive the bounds of task-space acceleration of object carried by the system. Bounds on each joint torque, described as a polytope, is transformed to the task-space acceleration through matrices related with robot dynamics, robot kinematics, object dynamics, grasp conditions, and contact conditions. A series of mathematical manipulations including the procedure calculating minimum infinite-norm solution of linear equation is applied to get the reachable acceleration bounds from given actuator dynamic constrains. Several examples including two robot systems as well as three robot system are shown with the assumptions of complete-constraint contact model(or' very soft contact') and insufficient or proper degree of freedom robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.1167-1172
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• 1990

This paper discusses a force distribution scheme which minimizes the weighted norm of the forces/torques applied on weak points of cooperating multiple robot arms. The scheme is proposed to avoid the damage or unwanted motion of any weak point of robots or object stemming from excessive forces/torques. Since the proposed scheme can be used for either the joint torque minimization or the exerted force minimization on the object, it can be regarded as a unified force minimization method for multiple robot arms. The computational complexity in this scheme is analyzed using the properties of Jarcobian. Simulation of two identical PUMA robots held an object is carried out to illustrate the proposed scheme. By the proper choice of the weighting matrix in the performance index, we show that force minimization for a weak point can be achieved, and that the exerted force minimization on the object can be changed to the joint torque minimization.