• 한국자동차공학회논문집
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• 제24권5호
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• pp.512-519
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• 2016

In this study, the tire road friction estimation(TRFE) algorithm for controlling the rear wheel driving force of a 4WD vehicle during acceleration is developed using a standard sensor in an ordinary 4WD passenger car and a speed sensor. The algorithm is constructed for the wheel shaft torque, longitudinal tire force, vertical tire force and maximum tire road friction estimation. The estimation results of shaft torque and tire force were validated using a torque sensor and wheel force transducer. In the algorithm, the current road friction is defined as the proportion calculated between longitudinal and vertical tire force. Slip slop methods using current road friction and slip ratio are applied to estimate the road friction coefficient. Based on this study's results, the traction performance, fuel consumption and drive shaft strength performance of a 4WD vehicle are improved by applying the tire road friction estimation algorithm.

• 로봇학회논문지
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• 제13권3호
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• pp.174-181
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• 2018

For a mobile robot that travels along a terrain consisting of various geology, information on tire force and friction coefficient between ground and wheel is an important factor. In order to estimate the lateral force between ground and wheel, a lot of information about the model and the surrounding environment of the vehicle is required in conventional method. Therefore, in this paper, we are going to estimate lateral force through simple model (Minimal Argument Lateral Slip Curve, MALSC) using only minimum data with high estimation accuracy and to improve estimation reliability of the friction coefficient by using the estimated lateral force data. Simulation is carried out to analyze the correlation between the longitudinal and transverse friction coefficients and slip angles to design the simplified lateral force estimation model by analysing simulation data and to apply it to the actual field environment. In order to verify the validity of the equation, estimation results are compared with the conventional method through simulation. Also, the results of the lateral force and friction coefficient estimation are compared from both the conventional method and the proposed model through the actual robot running experiments.

• 로봇학회논문지
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• 제13권1호
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• pp.55-62
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• 2018

In this paper, a method for estimation of external force on an end-effector using joint torque sensor is proposed. The method is based on portion of measure torque caused by external force. Due to noise in the torque measurement data from the torque sensor, a recursive least-square estimation algorithm is used to ensure a smoother estimation of the external force data. However it is inevitable to create a delay for the sensor to detect the external force. In order to reduce the delay, modified recursive least-square is proposed. The performance of the proposed estimation method is evaluated in an experiment on a developed six-degree-of-freedom robot. By using NI DAQ device and Labview, the robot control, data acquisition and The experimental results output are processed in real time. By using proposed modified RLS, the delay to estimate the external force with the RLS is reduced by 54.9%. As an experimental result, the difference of the actual external force and the estimated external force is 4.11% with an included angle of $5.04^{\circ}$ while in dynamic state. This result shows that this method allows joint torque sensors to be used instead of commonly used external sensory system such as F/T sensors.

• 전기학회논문지
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• 제57권12호
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• pp.2291-2299
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• 2008

Hall effect force sensors have been used to measure clamping force in conventional Electric Parking Brake(EPB) systems. Estimation of clamping force without the sensors has drawn attentions due to mounting space limitations and cost issues. Removing the sensor requires the estimation of the initial contact point where the clamping force is effectively applied to the brake pads. In this paper, we propose how to estimate the initial contact point finding the relation between the angular velocity of an actuator and the initial contact point. For force estimation a look-up table is used as a function of the displacement of parking cable from the initial contact point. The proposed method is validated by experiments. From the experimental results we observe that the proposed method satisfies the specifications. The designed method is also able to estimate clamping force although parking cables are loosened and brake pads are worn out. Applying the proposed method enables manufacturing of low cost EPB systems.

• 한국공작기계학회논문집
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• 제10권4호
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• pp.123-129
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• 2001

Recent requirements for the fast and accurate motion in industrial robot manipulators need more advanced control tech-niques. To satisfy the requirements, importance of force control is being continuously increased and the expensive force sensor is usually installed to obtain the contact force information in practice. This information is indispensable for the force control of maintaining the desired contact force. However, the sensor cost is too high to be used in industrial applications. In this paper, it is proposed to estimated the contact force occurring between the end-effector of 2 DOF robots and environ-ment. The contact force estimation system is developed based on the static and dynamic models of 2 DOF robot manipula-tors. where the contact force is described with respect to the link torque. The Extended Kalman Filter is designed and its performance is verified in simulations.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 추계학술대회논문집 - 한국공작기계학회
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• pp.14-19
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• 2000

Recent requirements for the fast and accurate motion in industrial robot manipulator need more advanced control techniques. To satisfy the requirements, importance of the force control is being continuously increased and the expensive force sensor is usually installed to obtain the contact force information in practice. This information is indispensable for the force control of maintaining the desired contact force. However the sensor cost is too high to be used in industrial applications. In this paper, it is proposed to estimate the contact force occurred between the end-effector of 2 DOF robots and environment. The contact force estimation system is developed based on the static and dynamic models of 2 DOF robot manipulators, where the contact force is described with respect to the link torque. The Extended Kalman Filter is designed and its performance is verified in simulations.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 춘계학술대회논문집
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• pp.842-847
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• 2002

One of the challenging problems with bicycle simulators is to deal with the inherent unstable bicycle dynamics that is coupled with rider's motion. For the bicycle dynamics calculation and the real time simulation, it is necessary to identify the control inputs from the rider as well as the virtual environments. The six control forces of the Stewart platform-based motion system are used for estimation of the rider's action force, which is one of the important control inputs, but of which the direct measurement is impractical. For the effective estimation of the rider's action force, the dynamics model of the motion system is derived incorporated with both analytical and experimental methods and the sliding mode controller with perturbation estimation is developed.

• 산업기술연구
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• 제28권A호
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• pp.167-176
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• 2008

Recently, lots of studies are performed in developing of active orthosis. Exact and simple muscle force estimation is important in developing orthosis which assists muscle force for disabled people or physical laborers. Hill-type muscle model dynamics is common method for estimation of muscle forces. In Hill-type muscle model, we must know muscle length and moment arm which largely affect muscle force. And several methods are proposed to estimate muscle length and moment arm using joint angle. In this study, we compared estimation results of those method with data from body model of opensim to find which method is exact for estimation of muscle length and moment arm.

• 한국정밀공학회지
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• 제27권1호
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• pp.58-63
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• 2010

A new contact force estimation technique is proposed. Keeping the contact force at a certain level between finishing tool and the object is essential since the quality of the finished surface is very sensitive to the contact force during the finishing process. However, the contact force measurement cannot be obtained by simply installing load cells under machine table or in the middle of tool linkage. The reason is that the weight of the machine table and the tool linkage are much heavier than the force to be measured. To that end, a method for estimating disturbance is proposed for a system that is similar to the mechanism of the finishing machine, and the same method is applied to estimate the contact force of the brush-type finishing machine. To verify the effectiveness of the proposed method, a small scale test set-up has been built and the method has been tested.

• 한국자동차공학회논문집
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• 제24권3호
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• pp.365-371
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• 2016

The electromechanical brake (EMB) is one of future brake systems due to its many advantages. For implementation of the EMB, the correct feed back about clamping force is necessary. Keeping commercialization of the EMB in mind, it is strongly demanded that an expensive load cell measuring the clamping force is replaced with an estimation algorithm. In addition, an estimation of the kissing point where the brake pads start to come into contact with a disk wheel is proposed in this paper. With these estimation algorithms, the clamping force can be expressed as a polynomial characteristic curve versus the motor angle. Also, a method for calibration of measured values by the load cell is proposed and used for an actual characteristic curve. Lastly, the performance of the proposed algorithms is evaluated in comparison with the actual curve on a developed EMB test bench.