• 한국정밀공학회지
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• 제29권9호
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• pp.971-977
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• 2012

Redundant actuated parallel kinematic machines (PKMs) have been widely researched to increase stiffness of PKMs. This paper presents theoretical analyses on the stiffness of non-redundant and redundant actuated PKM. Stiffness of each mechanism is defined by summation of actuator and structural stiffness; the actuator stiffness is determined from displacements of actuators, and the structural stiffness is determined from deformations of links by external forces. Calculated actuator and structural stiffness of non-redundant PKM show same distribution in entire workspace. On the contrary, the actuator and the structural stiffness of a redundant PKM has very different distribution in the workspace; so, we conclude the structural stiffness of redundant PKM should be considered to design the redundant PKM. The results can be used to design and analyze non-redundant and redundant PKMs.

• 대한기계학회논문집
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• 제19권1호
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• pp.181-192
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• 1995

In this study, we introduce new types of planar 2 degree-of-freedom robot modules resembling the musculoskeletal structure of the human arm with actuation redundancy. First, for the given actuator sizes the performance analysis for the manipulator with redundant actuation and without redundant actuation is performed with respect to maximum load handling capacity, maximum hand velocity, and maximum hand acceleration. Secondly an algorithm which decides optimal actuator sizes for the given operational performances is introduced, and the optimal actuator sizes for a robot module with four redundant actuation are obtained. The algorithms employed in this paper will be useful to analyze the robot performances and to determine the actuator sizes for general robot manipulators.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.605-610
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• 1994

This paper discusses the solution to the precise positioning control problem applied to a simple model of a dual stage or redundant positioner. The dual stage actuator presented here uses a VCM(Voice Coil Motor) as a coarse actuator and a piezoelectric actuator as a fine actuator. By adopting controllers with two-degree-of-freedom and by optimizing H$_{2}$ faster precise tracking can be realized. Experimental and numerical results are presented to demonstrate the control effects.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1613-1616
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• 1997

In order to develop a human hand mechanism, a 5-bar finger with redundant actuation is designed and implemented. an optimal set of acutator locations and link lengths for the case of one redundant actuator is obtained by employing a composite design index which simulataneously consider several performance indices such as workspace, isotropic index, and force transmission ratio. Each joing is driven by an compact actuator mechanism having ultrasonic motor and a gear set with poeneiometer an controlled by VME Bus-based control system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.48-51
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• 1996

A 5-bar structure with redundant actuators is proposed as a finger mechanism. It is shown that one additional redundant actuator greatly enhances the load handling capacity of the system. The actuator location should be carefully decided to maximize the performance enhancement. Furthermore, we develop stiffness and frequency control algorithms based on the internal loading created by redundant actuation. The effectiveness of these algorithms have been demonstrated by simulations.

• 대한임베디드공학회논문지
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• 제8권5호
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• pp.265-272
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• 2013

This paper addresses a control allocation method for fault-tolerant control by redistributing redundant control surfaces. The proposed method is based on a classical daisy chain approach for the compensation of faulty actuators. The existing daisy chain method calculates a desired moment according to a number of actuator groups. However, this method has a significant limitation; that is, any faulty actuator belonging to the last actuator group cannot be compensated, since there is no more redundant actuator group that can be used to generate the required moments. In this paper, a modified daisy chain method is proposed to overcome this problem. Using the proposed method, the order of actuator groups is readjusted so that actuator groups containing any faulty actuator are always placed in an upper group instead of the last one. A set of simulation results with an F-18 HARV aircraft demonstrate that the proposed method can achieve better performance than the existing daisy chain method.

• 로봇학회논문지
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• 제2권2호
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• pp.168-177
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• 2007

In a number of fields, robots are being used for two purposes: efficiency and safety. Most robots, however, have single-actuator mechanism for each joint, where the tasks are performed with high stiffness. High stiffness causes undesired problems to the environment and robots. This study proposes redundant actuator mechanism as an alternative idea to cope with these problems. In this paper, Double-Actuator Unit (DAU) is implemented at each joint for applications of multi-link manipulators. The DAU is composed of two motors: the positioning actuator and the stiffness modulator, which enables independent control of positioning and compliance. A three-link manipulator with DAUs enables adaptive control of RCC. By modulating the joint stiffness of the manipulator and controlling the position of RCC, we can significantly reduce contact force during assembly tasks and surgical procedures.

• Journal of Electrical Engineering and Technology
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• 제11권1호
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• pp.215-226
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• 2016

Modeling, control and implementation of a real redundant robot with five Degrees Freedom (DOF) of the SCARA (Selective Compliant Assembly Robot Arm) manipulator type is presented. Through geometric methods and structural and functional considerations, the inverse kinematics for redundant robot can be obtained. By means of a modification of the classical sliding mode control law through a hyperbolic function, we get a new algorithm which enables reducing the chattering effect of the real actuators, which together with the learning and adaptive controllers, is applied to the model and to the real robot. A simulation environment including the actuator dynamics is elaborated. A 5 DOF robot, a communication interface and a signal conditioning circuit are designed and implemented for feedback. Three control laws are executed in: a simulation structure (together with the dynamic model of the SCARA type redundant manipulator and the actuator dynamics) and a real redundant manipulator of the SCARA type carried out using MatLab/Simulink programming tools. The results, obtained through simulation and implementation, were represented by comparative curves and RMS indices of the joint errors, and they showed that the redundant manipulator, both in the simulation and the implementation, followed the test trajectory with less pronounced maximum errors using the adaptive controller than the other controllers, with more homogeneous motions of the manipulator.

• 제어로봇시스템학회논문지
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• 제17권11호
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• pp.1067-1073
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• 2011

In this paper, the methodology of a CA (Control Allocation) based FTNCS (Fault-Tolerant Networked Control System) is proposed. Control allocation is a control surface management technique by redistributing the redundant control surfaces in overactuated systems. In modern high performance aircrafts, they adopt many redundant control surfaces to provide high performance and to satisfy various tactical requirements. Moreover, redundant control surfaces provide an opportunity to compensate performance degradation due to failures in more than one actuator by re-allocating redundant control surfaces. Simulation results with an F-18 HARV demonstrate that the proposed CA based FTNCS can achieve a fast and accurate tracking performance even in the presence of actuator faults.

• 드라이브 ㆍ 컨트롤
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• 제13권2호
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• pp.1-9
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• 2016

In this paper, an elementary force fighting problem was investigated. The problem is encountered when a double-rod type EHA(electro-hydrostatic actuator) is combined with a single-rod type EHA to build a redundant actuator system with synchronized motion. When the rod-side chambers of the two different types of EHAs have the same effective piston areas and are simultaneously pressurized by an external load, the two EHAs behave identically, sharing the external load equally. However, when the piston head-side chamber of the single rod type EHA, having a larger effective area than the rod-side chamber, is pressurized by the external load, an abnormal force fighting between the two EHAs occurs, unless their pump speeds are properly decoupled. In this study, the output drive forces of each EHA were obtained from the cylinder pressure signals and applied to the position control for each EHA to maintain the balance between their pump speeds. Adding minor force difference feedback loops to the position control, the force fighting phenomena could be eliminated and steady state synchronization errors were reduced. The power consumption of the pumps also could be remarkably reduced, avoiding unnecessarily high load pressures to the pumps.