• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.599-606
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• 1992

A manipulator system that needs significantly large workspace volume and high payload capacity has greater link flexibility than typical industrial robots and teleoperators. If link flexibility is significant, position control of the manipulator's end-effector exhibits the nonminimum phase, noncollocated, and flexible structure system control problems. This paper addresses inverse dynamic trajectory planning issues of a flexible manipulator. The inverse dynamic equation of a flexible manipulator was solved in the time domain. By dividing the inverse system equation into the causal part and the anticausal part, the inverse dynamic method calculates the feedforward torque and the trajectories of all state variables that do not excite structural vibrations for a given end-point trajectory. Through simulation and experiment with a single-Unk flexible manipulator, the effectiveness of the inverse dynamic method has been demonstrated.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.6
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• pp.160-166
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• 2003

Interest in advanced vehicles results in correspondingly increased interest in modeling and simulation of the dynamic behavior of Maglev-type vehicle systems. DADS is a program especially suited for the analysis of multibody mechanical systems. This paper demonstrates the application of DADS to the dynamic modeling and simulation of such advanced vehicles. A brief description is made of the modeling requirements of magnetically levitated systems, along with a summary of some of the related capabilities of DADS. As a case study, an analysis of a vehicle based on the UTM01 system is presented. This paper shows that the presented modeling technique is applicable to the dynamic characteristics evaluation and control law design of Maglev- type vehicles.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.3
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• pp.318-325
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• 2008

In this paper, a dynamic backoff adjustment method of IEEE 802.15.4 is proposed for time-critical sporadic data in a noisy factory environment. For this, a superframe of IEEE 802.15.4 is applied to a real-time mixed data (periodic data, sporadic data, and non real-time message) transmission in factory communication systems. To guarantee a channel access of real-time sporadic(non-periodic) data, a transmission method using the dynamic backoff is applied to wireless control networks. For the real-time property, different initial BE, CW parameters are used for the dynamic backoff adjustment method. The simulat-ion results show an enhancement of the real-time performance of sporadic emergency data. The proposed method provides the channel access of real-time sporadic data efficiently, and guarantee real-time transmission simultaneously within a limite-d timeframe.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.1
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• pp.12-23
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• 1994

This paper proposes an optimal design software for the open-chain dynamic systems whose governing equations are expressed as differential equation. In this software, an input module and an automatic creation module of the equation of motion are developed to contrive the user's convenience. To analyze the equation of motion of the dynamic systems, variable-order and variable-stepsize Adams-Bashforth-Moulton predictor-corrector method is used to improve the efficiency. For the optimization and the design sensitivity analysis, ALM(augmented lagrange multiplier)method and adjoint variable method are adopted respectively. An output module with which the user can compare and investigate the analysis and the optimization results through tables and graphs is also provided. The developed software is applied to three typical dynamic response optimization problems, and the results compare very well with those available in the literature, demonstrating its effectiveness.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.11
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• pp.1111-1118
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• 2006

This paper covers topics related to the investigations for the problem of sensorless vibratory orienting of polygonal parts with high probability through dynamic simulation. The author's program for mechanical systems with changing topologies was experimentally validated and was used as a simulation and design tool for motion behaviors of the vibratory parts-orienting system in the dynamic environment. A flat level vibrating bar is proposed as a means of orienting parts. Dynamic manipulation, in which a part is repeatedly caught and tossed by the bar without sensing, forms the fundamental manipulation strategy. This paper presents how to plan vibratory manipulation strategies that can orient a small rigid polygonal part using interaction between the part and the vibrating bar without requiring sensing. The planned motion strategies have been experimentally validated to show how the dynamic simulation can be used to find favorable vibration parameters for a given part without knowledge of their initial orientations.

• Ocean Systems Engineering
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• v.5 no.3
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• pp.199-220
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• 2015

The paper described the nonlinear dynamic motion behavior of a barge equipped with the portable outboard Dynamic Positioning(DP) control system in short-crested waves. The DP system based on the fuzzy theory is applied to control the thrusters to optimally adjust the ship position and heading in waves. In addition to the short-crested waves, the current, wind and nonlinear drifting force are also included in the calculations. The time domain simulations for the six degrees of freedom motions of the barge with the DP system are solved by the $4^{th}$ order Runge-Kutta method. The results show that the position and heading deviations are limited within acceptable ranges based on the present control method. When the dynamic positioning missions are needed, the technique of the alternative portable DP system developed here can serve as a practical tool to assist those ships without equipping with the DP facility.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.7 no.4
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• pp.236-241
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• 2007

This paper presents an adaptive controller using chaotic dynamic neural networks(CDNN) for nonlinear dynamic system. A new dynamic backpropagation learning method of the proposed chaotic dynamic neural networks is developed for efficient learning, and this learning method includes the convergence for improving the stability of chaotic neural networks. The proposed CDNN is applied to the system identification of chaotic system and the adaptive controller. The simulation results show good performances in the identification of Lorenz equation and the adaptive control of nonlinear system, since the CDNN has the fast learning characteristics and the robust adaptability to nonlinear dynamic system.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.11 no.2
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• pp.80-86
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• 2002

Previous method of computer simulation to predict the dynamic response of a vehicle has been based on the assumption that vehicle structure is rigid. If the flexibility of the vehicle structure becomes too large to ignore, rigid body assumption will no longer give good estimation of the dynamic characteristics. Therefore, in order to predict more precise vehicle dynamic characteristics, flexible multi-body dynamic analysis of a vehicle is necessary. This paper investigates dynamic characteristics of vehicle systems with flexible frames numerically. Joint reaction forces, vertical accelerations, pitch accelerations are analyzed for the vehicle systems with various flexible frames using multi-body dynamic analysis code and finite element analysis code.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2001.10a
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• pp.475-482
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• 2001

Stadium stand could be led to significant dynamic response due to rhythmical activities of spectator. The dynamic loads induced by spectators movements are considered as static loads in design standard of many countries but these loads have dynamic characteristics. So, it is desirable to apply measured dynamic loads created by spectator activities and to analyze the dynamic behavior of stadium system. The precise investigation of the dynamic loads on stadium structures and the accurate analysis of dynamic behavior of stadium systems are demanded for effective design. As the floor mesh of stadium stand is refined, the number of nodes increase in numerical analysis. So it is difficult to analyze entire stadium structures and much more computer memory are necessary for vibration analysis of stadium system. In this study, the various dynamic loads induced by spectator movements are measured and analyzed. And new modeling method that reduce the nodal points of stadium systems are introduced. Vibration analysis of stadium system is executed to inspect the accuracy and the efficiency of proposed method in this paper.

• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.197-203
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• 2006

This paper addresses dynamic modeling and task-space trajectory following issues for nonholonomic mobile manipulators moving on a slope. An integrated dynamic modeling method is proposed considering nonholonomic constraints and interactive motions. An adaptive neural-fuzzy controller is presented for end-effector trajectory following, which does not rely on precise apriori knowledge of dynamic parameters and can suppress bounded external disturbances. Effectiveness of the proposed algorithm is verified through simulations.