• Proceedings of the Korean Society of Precision Engineering Conference
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• 1991.11a
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• pp.155-159
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• 1991

This paper is a study on the Inverse dynamics of a one-1ink flexible robot arm which is control led by the transiational base motion. The system is composed of the flexible arm, the mobil stage, a DC servomotor, and a computer. The arm base is shifted so that the tip follows a desired path function. The tip Rotten is measured by the laser displacement sensor. The governing equations are based on the Bernoullie-Euler beam theory and solved by applying the Laplace transform method and then the numerical inversion method to the resulted equations. Tip responses obtained both theoretically and experimentally are in good agreement with the desired trajectory, which shows that the scheme of inverse dynamics is effective for the open-loop endpoint positioning of the flexible am driven by the translation stage.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.11b
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• pp.198-203
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• 2002

A fuzzy logic controller design technique is proposed to apply for the control of flexible system under irregular disturbance. The fuzzy rules of $\ulcorner$Mode Selecting Fuzzy Controller$\lrcorner$ are constructed using displacement, velocity information and modal characteristics of the system. The frequency information of flexible system is picked up from $\ulcorner$Mode Selecting Unit$\lrcorner$ based on Fast-Fourier transform algorithm. Experiment is conducted to verify the proposed theoretical approach, Piezo ceramic and laser accelerometer are used as actuator and sensor in the experiments respectively

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1036-1041
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• 1993

The tip of the flexible robot arm has to be controlled by the active control reducing vibration because it has residual vibration after getting to desired position. This paper presents an end-point position control of a 1-link flexible robot arm having tip mass by the PID control algorithm. The system is composed of a flexible arm with tip mass, dc servomotor and ballscrew mechanism under translational motion. The feedback signal composed of the tip displacement measured by laser sensor, estimated velocity and acceleration is used to control the base motion. Theoretical results are obtained by applying the Laplace transform and the numerical inversion method to the governing equations. After the flexible robot arm reaches to. the desired position, the residual vibration is controlled by the PID algorithm. This paper gives the simulation and experimental results of end-point responses according to changing tip-mass and arm length. And this algorithm shows good effects of reducing the residual vibration. Approximately, theoretical response is in good agreement with experimental one.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1231-1234
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• 2003

Pneumatic servo valve which is widely applied in industrial world is advanced technology compounded with electric, electronic and machine. And It is consist of Linear Force Motor. Spool Commutation Mechanism and Microprocessor. In this study, we accomplished test method of Linear Force motor test, Static characteristic test, Dynamic characteristic test for KS(Koran industrial standard) of Pneumatic servo valve. we accomplished study about the main item of Static characteristic test which is related to unload flow characteristic test. And Dynamic characteristic test was step input test and frequency response test. Specially about frequency response test, There was a difficulty resulting from the time delay problem caused by the basic compressibility of air. In order to solve the problem in this study. we proposed two methods. First, displacement of the servo valve spool was directly measured by using a laser sensor. Second, method of calculating control flow by measuring pressure and temperature of chamber.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.6
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• pp.845-850
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• 2012

Currently power of the diesel engine is increasing continuously, where the wearing problems become more severe. The wearing happens irregularly inside the cylinder, which causes a high burden to the marine engine. In this paper, a novel scheme to measure the wearing and to represent the engine states has been proposed. To monitoring the states of the marine engine efficiently, a laser displacement sensor has been utilized to measure the wearing happening inside the marine engine. To eliminate the noise signals in the distance measurement, the wavelet transform has been adopted, which is robust against the noises caused by vibrations. An engine simulator is designed to develop the system for measuring the engine wears, where the superiority of the wavelet transform against the conventional filtering schemes has been demonstrated.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.04b
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• pp.396-399
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• 1995

In this study, Acquisition system is proposed to acquire 3 dimensional data of the free surface model using direct pulse control to machining center. Todo this, I/F to connect between manual operating handle and computer is made, and 3 dimensional shape measuring algorithm using Z-map is applied. The 3 dimensional shape data of the free surface model measured by laser displacement sensor and electric touch probe are achieved directly. Performance of the proposed system is evaluated through measurement of various shape model.

• Journal of the Korean Society for Precision Engineering
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• v.9 no.4
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• pp.136-146
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• 1992

This paper provides the end-point positioning of a single-link flexible robot arm by inverse dynamics. The system is composed of a flexible arm, the mobile ballscrew stage as an arm base, a DC servomotor as an actuator, and a computer. Actuator voltages required for the model of a flexible arm to follow a given tip trajectory are formulated on the basis of the Bermoullie-Euler beam theory and solved by applying the Laplace transform method, and computed by the numerical inversion method proposed by Weeks. The mobile stage as the arm base is shifted so that the end-point follows the desired trajectories. Then the trajectory of end-point is measured by the laser displacement sensor. Here, two kinds of functions are chosen for the given tip trajectories. One is what is called the bang-bang acceleration profile and the other is the Gaussian velocity profile.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.23 no.6
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• pp.630-635
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• 2014

This study aims to develop a PZT-driven depth adjustment device with a flexure hinge and to investigate its static/dynamic characteristics. This device will be applied to rapidly and accurately trace a flat surface with slight waviness of up to several hundreds of micrometers in magnitude. One typical example is to cut a film coated on a steel plate. A depth control system composed of PMAC, PZT/PZT amplifier, flexure hinge/knife, and laser displacement sensor is implemented on a desktop three-axis machine and an actual cutting test is conducted on a steel workpiece with a sinusoidal-wavy surface. It is verified that the dynamic characteristics of the device limit the maximum cutting speed and depth precision.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 1999.03a
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• pp.153-157
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• 1999

Voigt Model assumed for creep was used to obtain the viscoelastic properties of fabrics in thickness direction and the governing equation was derived. The weights were specially designed and calibrated for constant stress applied to fabrics and the 1 ${\mu}{\textrm}{m}$ resolution laser displacement sensor was attached in order to measure the variation of strain. Ten fabric samples were used. The few steps of strain showed according to the internal structure of fabrics. Also correlations the Hand Values from KESF with the spring and damping coefficients were considered.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 1999.03a
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• pp.147-152
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• 1999

We have measured viscoelastic properties of fabrics in thickness direction. We assume that Maxwell model is very useful in stress relaxation of viscoelastic theories and appropriate formulas for fabric are calculated. Measurement system constitute of high precession load cell, translator and laser displacement sensor for viscoelastic properties was designed and elastic coefficients and damping coefficients were measured for 10 fabric samples. Elastic coefficients measured were 19~25 kN/㎡ and Damping coefficients measured were 4.8~8.7 MN$.$s/㎡. We concluded that these coefficients are good related with FUKURAMI collected from KESF system