• 대한기계학회논문집A
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• 제24권6호
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• pp.1470-1478
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• 2000

Analysis of actuating forces and joint reaction forces are essential to determine the capacity of actuators, to control the system and to design the components. This paper presents an algorithm tha t calculates actuating forces(or torques) depending on the various driving types to produce a given system motion. The joint reaction forces(or torques) of multibody systems with closed-loops are analyzed in the Cartesian coordinate space using the inverse velocity transformation technique. Two numerical examples were carried out to verify the algorithm proposed.

• International Journal of Control, Automation, and Systems
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• 제4권1호
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• pp.17-29
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• 2006

A novel inverse kinematics solution based on the back propagation neural network (NN) for redundant manipulators is developed for online obstacles avoidance. A laser transducer at the end-effctor is used for online planning the trajectory. Since the inverse kinematics in the present problem has infinite number of joint angle vectors, a fuzzy reasoning system is designed to generate an approximate value for that vector. This vector is fed into the NN as a hint input vector rather than as a training vector to guide the output of the NN. Simulations are implemented on both three- and four-link redundant planar manipulators to show the effectiveness of the proposed position control system.

• 한국생산제조학회지
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• 제22권2호
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• pp.256-262
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• 2013

This paper presents a linear path control algorithm for NeuroMate robot in a skull drilling system. For the path control inverse kinematics of the robot is analyzed and a linear interpolation algorithm is presented. A geometric approach is used for solving inverse kinematic equations for the robot. Four feasible solutions are found through the approach. The approach gives geometric insights for selecting the best solution from the feasible solutions. The presented linear interpolation algorithm computes a next position considering current velocity and remaining distance to the target position. Presented algorithm is implemented and tested in a skull drilling system.

• Journal of Mechanical Science and Technology
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• 제20권5호
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• pp.634-642
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• 2006

The aim of this paper is to increase the performance of hysteresis compensation for Shape Memory Alloy (SMA) actuators by using inverse Preisach model in closed-loop control system. This is used to reduce hysteresis effects and improve accuracy for the displacement of SMA actuators. Firstly, hysteresis is identified by numerical Preisach model implementation. The geometrical interpretation from first order transition curves is used for hysteresis modeling. Secondly, the inverse Preisach model is formulated and incorporated in closed-loop PID control system in order to obtain desired current-to-displacement relationship with hysteresis reducing. The experimental results for hysteresis compensation by using this method are also shown in this paper.

• 한국정밀공학회지
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• 제15권3호
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• pp.127-132
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• 1998

Mobile wheeled robots are nonholonomically constrained systems. Generally, it is very difficult to describe the motion of mechanical systems with nonintegrable nonholonomic constraints. An objective of this study is to describe the motion of a robot with a free wheel. The motion of holonomically and/or nonholonomically constrained system can be simply determined by Generalized Inverse Method presented by Udwadia and Kalaba in 1992. Using the method, we describe the exact motion of the robot and determine the constraint force exerted on the robot for satisfying constraints imposed on it. The application illustrates the ease with which the Generalized Inverse Method can be utilized for the purpose of control of nonlinear system without depending on any linearization, maintaining precision tracking motion and explicit determination of control forces of nonholonomically constrained system.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.640-644
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• 1997

This poaper descibes a method for reconstructing the impact force by inverse analysis. The inverse problem of reconstructing the impact force using experimentally measured structural responses tends to be ill-conditioned. In practical application, impact response data involve niise caused by the measurement system. We present a method to minimize the mean square error of reconstructed forcd. The agreement is very satisfactory in all the comparisons. This verifies the proposed method.

• 대한수학회지
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• 제59권5호
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• pp.891-909
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• 2022

The main objective of this paper is to develop a concrete inverse formula of the system induced by the fourth-order finite difference method for two-point boundary value problems with Robin boundary conditions. This inverse formula facilitates to make a fast algorithm for solving the problems. Our numerical results show the efficiency and accuracy of the proposed method, which is implemented by the Thomas algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.16-19
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• 1996

The objective of this paper is to present a new adaptive nonlinear compensation method, which is based upon the Pth-order inverse theory and can be implemented in a systematic way, for weakly nonlinear systems that can be modeled by a Volterra series. In particular, employment of the proposed approach for the linearization of a given nonlinear system leads to the effective elimination of (up to a required order) nonlinearities in the overall system output. To demonstrate the feasibility of the proposed method, simulation results using a satellite communication system model are also provided.

• 한국전산구조공학회논문집
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• 제22권3호
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• pp.223-229
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• 2009

대부분의 구조해석 문제는 외부하중에 대하여 구조물의 변형과 응력을 구하게 된다. 하지만 많은 분야에서 표면 트랙션과 내부 응력을 측정변위로 부터 구하기 위한 역문제 해석이 필요하게 된다. 본 연구에서는 구하고자 하는 트랙션 영역과 그와는 다른 영역의 변위를 측정하여 미지의 트랙션을 평가하는 역시스템을 경계요소법을 사용하여 수식화하였다. 본 연구에서 제시한 역경계요소법을 사용하여 측정변위의 작은 노이즈와 측정위치의 영향을 분석하였다.

• 한국수자원학회논문집
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• 제36권5호
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• pp.863-878
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• 2003

본 연구에서는 하천의 유지용수를 확보하기 위하여 하수처리장에서 처리하여 방류하는 하수처리수를 활용하기 위한 방안을 검토하고 이를 하천유지용수로 직접 활용하기 위하여 역순환시스템의 활용을 검토하였다. 역순환시스템은 하천 하류에 위치한 하수처리장으로부터 방류되는 하수처리수를 펌핑하여 하천상류부로 이송함으로써 하천에 부족한 유지유량을 확보하는 방법으로 여러 가지 형태의 이송방안을 조합하여 하천의 특성에 맞는 최적의 시스템을 구성하고 간단한 수처리를 적용함으로서 하수처리수의 수질을 추가적으로 개선할 수 있는 특징이 있다. 또한 이송된 하수처리수를 하천에 유입시키는 방안들은 시각적으로 친수적인 경관을 제공하고 폭기 등에 의한 수질개선효과를 얻을 수 있다. 이러한 하수처리수를 활용한 역순환시스템을 하천유지용수확보에 적용하기 위하여 국내 하수처리장의 처리수 활용실태 및 수질 상태 등을 검토하였고, 국내의 하수처리수 활용 사례를 조사하였으며 외국의 유사사례 조사를 통해 국내에 적용하기 위한 방안을 마련하고 실제 하천을 대상으로 역순환시스템의 적용방안을 제시하였다.