• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.131-138
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• 2020

This paper proposes a low-cost robotic surgery system composed of a general purpose robotic arm, an interface for daVinci surgical robot tools and a modular haptic controller utilizing smart actuators. The 7 degree of freedom (DOF) haptic controller is suspended in the air using the gravity compensation, and the 3D position and orientation of the controller endpoint is calculated from the joint readings and the forward kinematics of the haptic controller. Then the joint angles for a general purpose robotic arm is calculated using the analytic inverse kinematics so that that the tooltip reaches the target position through a small incision. Finally, the surgical tool wrist joints angles are calculated to make the tooltip correctly face the desired orientation. The suggested system is implemented and validated using the physical UR5e robotic arm.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.156-160
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• 1993

This paper presents a controller design to coordinate a robot manipulator under unknown system parameters and bounded disturbance inputs. To control the motion of the manipulator, an inverse dynamics control scheme is applied. Since parameters of the robot manipulators such as mass and inertia are not perfectly known, the difference between the actual and estimated parameters works as a disturbance force. To identify the unknown parameters, an inproved adaptive control algorithm is directly derived from a chosen Lyapunov's function candidate based on the Lyapunov's Second Method. A robust control algorithm is devised to counteract the bounded disturbance inputs such as contact forces and disturbing force coming from the difference between th actual and the estimated system parameters. Numerical examples are shown using three degree-of-freedom planar arm.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2350-2355
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• 2005

In this paper, we introduce biped walking robot which can static walking with 22 degree-of-freedoms. The developed biped walking robot is 480mm tall and 2500g, and 22 RC servo motors are used to actuate. Before made an active algorithm, we generated the motions of robot with the motion simulator which developed using by C language. The two dimension simulator is Based on the inverse kinematics and D-H transform. The simulator implements various motions as inputted the ankle's trajectory. Also we developed a simulator which is applied the principle of inverted pendulum to acquires the center of gravity. As we use this simulator, we can get the best appropriate angle of ankle and pelvis when the robot lifts up its one side leg during the working. We implement the walking motions which is based on the data(angle) getting from both of simulators. The robot can be controlled by text shaped command through RF signal of wireless modem which connected with laptop computer by serial cable.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.72-75
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• 2001

In this paper, the kinematic model and motion control of a joint-actuated mobile robot are analyzed. To take an efficient approach to the wheeled mobile robots, the relationship between wheel rotation and the contact point of the wheel is considered. It is shown that each addition of a joint to a mobile robot increases the degree of freedom(DOF) of mobile robot, and the way of joint attachment to a mobile robot is proposed. To get a solution of inverse kinematics of mobile robot, two types of approaches are proposed.

• Carbon letters
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• v.2 no.1
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• pp.22-26
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• 2001

Na alloyed graphite intercalation compounds with stage 1 and 2 were synthesized using the high temperature and pressure technique. Thermal stability and staging transitions of the compounds were investigated depending on heating rates. The thermal stability and temperature dependence of the deintercalation compounds were characterized using differential scanning calorimeter (DSC) analyzer. Enthalpy of formations were confirmed at temperatures between 25 and $500^{\circ}C$, depending on the various heating rates. The structure ions and interlayer spaces of the graphite were identified by X-ray diffraction (XRD). Diffractograms of stages with non-integral (00l) values were obtained in the thermal decomposition process, and stacking disorder defects and random stage modes were observed. The average value of the interlayer C-C bond lengths were found approximately $2.12{\AA}$ and $1.23{\AA}$ from the diffractions. Based on the stage transition, the degree of the deintercalaton has a inverse-linear relationship against the heating rate.

• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.397-400
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• 1992

Many dynamic control have been proposed; however, most of them are limited within stage of simulation study. The main reason is that the computations required for inverse dynamics are far beyond the ability of the present commercially available microprocessors. In this paper, In order to achieve real-time processing in robot dynamic control, a parallel processing computer for robot dynamic control is implemented using two transputer. Two transputer compute two degree of freedom robot. The transputer is a special purpose MPU for parallel processing. Transputers are used in networks to build a high performance concurrent system. A network of transputers and peripheral controllers is constructed using point-to-point communication. To gain most benifit from the transputer architecture, the whole system is programmed in OCCAM which is a high level language for concurrent applications. This control algorithm is applied to the RHINO SCARA type manipulator. We could taked about 438.6 microseconds to compute robot dynamic with two-processors.

• Journal of Mechanical Science and Technology
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• v.20 no.5
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• pp.591-601
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• 2006

In this paper, we present a new control methodology for perturbed crane systems. Nonlinear crane systems are transformed to linear models by feedback linearization. An inverse dynamic equation is applied to compute the system PD control force. The PD control parameters are selected based on a nominal model and are therefore suboptimal for a perturbed system. To achieve the desired performance despite model perturbations, we construct a neural network auxiliary controller to compensate for modeling errors and disturbances. The overall control input is the sum of the nominal PD control and the neural auxiliary control. The neural network is iteratively trained with a perturbed system until acceptable performance is attained. We apply the proposed control scheme to 2- and 3-degree-of-freedom (D.O.F.) crane systems, with known bounds on the payload mass. The effectiveness of the control approach is numerically demonstrated through computer simulation experiments.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.2
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• pp.191-197
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• 2010

In spite of a large amount of previous research, detail study on modified mass in proportional damping system is not well understood. It is common to predict structural dynamic design parameters due to the change of mass, but to predict the amount of modified mass and the location where the mass is being modified are rarely found in previous literature. Such inverse problem required detail analytical study in order to understand structural modification in proportional damping system. This paper predicts the modified mass and the modified mass location in proportional damping system using sensitivity coefficients and iterative method. The sensitivity coefficients are obtained from the change of eigenvectors due to mass modification. This method is applied to a horizontal beam and three degree of freedoms system. To validate the predicted changing mass and its location, the obtained results are compared to the reanalysis result which shows good agreement.

• Journal of the Korea Furniture Society
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• v.27 no.3
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• pp.165-174
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• 2016

To modularize the joints of Hanok, the bending strengths of butterfly joints between pre-cut and manual member were compared. Structural size joints were manufactured and the length, width and thickness of each tenon were produced with different sizes. The ultimate load of pre-cut members was 2 times higher than that of manual members. Degree of anchorage for the joints on pre-cut member was also superior to that of manual member. By the F-test results, a great influence between ultimate load and sizes of tenon was found. In result of multiple regression analysis, the length and thickness of tenon were showed proportion relationships with the ultimate load, but the width of tenon was showed inverse proportion with the ultimate load. The results of this study can be used to identify the relationships among the major influence factors. Futhermore, it might be used as basic data for modularization the joints of Hanok.

• Journal of the Korean Regional Science Association
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• v.12 no.2
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• pp.1-19
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• 1996

The purpose of this paper is to evaluate the accuracy of input coefficients which are usually estimated by various non-survey methods. The resulting analysis showed that there were considerable differences employed. One of the interesting findings was that the simple LQ method was shown to be better then the other non-survey methods with respect to the degree of accuracy. And from a sensitivity analysis which was to show the effect of changes in input coefficients on the level of production by industry, an increase of 10% in the value of input coefficient (machinary and equipment setor) resulted up to 500billion Won in GRP for the case region. Therfore one of the implications which we can derive from the resulting analysis is that it necessary to pay attention to the key coefficients first to save out time and money, while retaining a certain level of accuracy. One thing to be noted, however, is that the key coefficients but the total effects which are calculated through the Leontief inverse matrices. Therfore to enhance the accuracty of input coefficients estimated by nonsurvey methods it is required to handle the relevant setoral data more carefully or to employ semi-survey method in part.