• Journal of KSNVE
• /
• v.7 no.3
• /
• pp.387-392
• /
• 1997

This paper concerns a SCARA robot with the flexible forearm linked to the rigid upper arm. The equations of motion are derived by the Lagrangian mechanics. For controller design, the perturbation approach is taken to separate the original equations of motion into linear equations describing small perturbed motions and nonlinear equations describing purely rigid motion of the robot. To effect the desired payload motion, open loop control inputs are determined based on the inverse dynamics of the latter. In order to reduce the positional error during maneuver, an active vibration suppression is done. To this end, a feedback control is designed for robustness against disturbance on the basis of the linear equations and the LQR theory modified to have a prescribed degree of stability. The proposed control scheme shows satisfactory performances in experiments as well as in numerical simulations.

• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10a
• /
• pp.82-87
• /
• 1993

A supervisory controller design technique for multiple-AGV systems is presented in this paper. The guidepath is represented in the form of a network, and its modifications are easily tested. The network has two-layered structure, where the path sets between each two nodes are made in advance using the K-shortest path algorithm. Occupation times for all links are stored in link-occupation table, and are updated after the dispatching time. Dispatching and scheduling for each AGV are optimized in terms of minimum-time objectives. In all times, the paths are guaranteed to be conflict-free and deadlock-free. The simplicity and flexibility on this control scheme make the supervisory suitable for real applications.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.225-228
• /
• 1996

This paper concerns a SCARA type robot with the second arm flexible. Its equations of motion are derived by the Lagrangian mechanics. For controller design, the perturbation approach is taken to separate the original equations of motion into linear equations describing small perturbed motions and nonlinear equations describing purely rigid motion of the robot. To effect the desired payload motion, open loop control inputs are first determined based on the inverse dynamics of the latter. Next, in order to reduce the positional error during maneuver, an active vibration suppression is done. To this end, a feedback control is designed for robustness against disturbance on the basis of the linear equations and the LQR theory modified with a prescribed degree of stability. The numerical simulations results show the satisfactory control performance.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.11
• /
• pp.1103-1109
• /
• 2008

Since the flexible joint robots with motor dynamics are represented by the fifth-order nonlinear sγstem, it is difficult and complex to design the controller for electrically driven flexible-joint (EDFJ) robots. In this paper, we propose a simple adaptive control method to solve this problem. It is assumed that the model uncertainties of the robots dynamics, joint flexibility, and motor dynamics are unknown. For the simple control design, the dynamic surface design method is applied, and all uncertainties in the robot and motor dynamics are compensated by using the adaptive function approximation technique. It is proved that all signals in the controlled closed-loop system are uniformly ultimately bounded. Simulation results for three-link EDFJ manipulators are provided to validate the effectiveness of the proposed control system.

• 한국정보디스플레이학회:학술대회논문집
• /
• 2008.10a
• /
• pp.1491-1494
• /
• 2008

Typically internal mobile LCD display modules are connected to the mobile product baseband PCB with flexible printed circuit board equipped with board-to-board connector. This solution has a drawback of limiting the product concept work to certain solutions that are based on connector size, location, flexible PCB length, bending, etc. in the display module. Also flexible printed circuit board based solutions are not completely optimized from reliability point of view, causing flex circuit board breakings. For the external displays in the PC or Home entertainment market, the cable solution is too expensive and resource demanding. The wireless solution has obvious advantages over reliability, low cost and flexibility. This paper describes a wireless audio-visual interface solution.

• Journal of the Korean Society for Precision Engineering
• /
• v.13 no.2
• /
• pp.94-101
• /
• 1996

The equations of motion for a basic industrial robotic system which has a rigid or a flexible arm are derived by Lagrange's equation, respectively. Especially, for the deflection of the flexible arm, the assumed mode method is employed. These equations are highly nonlinear equations with nonlinear coupling between the variables of motion. In order to design the control law for the rigid-arm robot, Hunt-Su's nonlinear transformation method and Marino's feedback equivalence condition are used with linear quadratic regulator(LQR) theory. The control law for the rigid-arm robot is employed to input the desired path and to provide the required nonlinear transformations for the flexible-arm robot to follow. By using the implicit Euler method to solve the nonlinear equations, the comparison of the motions between the flexible and the rigid robots and the effect of flexibility are examined.

• Proceedings of the KIEE Conference
• /
• 2008.07a
• /
• pp.1761-1762
• /
• 2008

In this paper, we propose an adaptive neural control method to solve this problem. It is assumed that the model uncertainties of the robots dynamics, joint flexibility, and motor dynamics are unknown. The dynamic surface design method is applied, and all uncertainties in the robot and motor dynamics are compensated by using the adaptive function approximation technique. Simulation results for three-link electrically driven flexible-joint (EDFJ) manipulators are provided to validate the effectiveness of the proposed control system.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2005.05a
• /
• pp.1397-1400
• /
• 2005

Multiprotocol Label Switching is an initiating IETF that integrated Layer2 information network links(bandwidth, latency, utilization) to Layer 3(IP) with a particular autonomous system(or ISP) in order to simplify and improve IP-packet exchange. MPLS gives network operators a grate deal of flexibility to divert and route traffic around link failures, congestion, and bottlenecks. The MPLS has advantages that will be able to solve existing problem of Network that ISP have had IP, QoS, Gigabit forwarding and traffic engineering. The purpose of this study is to measure Access-list and the capacities of PE Router that would operate as MPLS. Many ISP using MPLS service to handle high-speed internet traffic with apply to firewall in future.

• Proceedings of the KSR Conference
• /
• 2009.05a
• /
• pp.930-939
• /
• 2009

A bimodal tram is being developed to combine the flexibility of a bus with the punctuality of a train. The propulsion system is a series hybrid type using a set of CNG engine generator and Li-polymer battery. This paper presents the experimental results of the series hybrid propulsion power unit using an active loader which can simulate powering and regenerative braking conditions of the propulsion equipments continuously. The power sharing scheme between PWM converter and a battery pack has been observed. The measurement results of DC link voltage and SOC(State Of Charge) of battery pack are presented.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
• /
• 2008.10a
• /
• pp.311-314
• /
• 2008

This paper is proposed a high performance speed con01 of the Interior Permanent Magnet Synchronous Motor through the Fuzzy-Neuro SV-PWM, SV-PWM is controlled using Fuzzy-Neuro control. SV-PWM can be maximum used maximum dc link voltage and is excellent control method due to characteristic to reducing harmonic more than others. The hybrid combination of fuzzy control and neural network will produce a powerful representation flexibility and numerical processing capability. Simulation results are presented to show the validity of the proposed algorithm.