• The Journal of Korea Robotics Society
• /
• v.12 no.3
• /
• pp.258-262
• /
• 2017

In this paper, we propose a new collision detection algorithm for human-robot collaboration. We use an IMU sensor located at the tip of the manipulator and the kinematic behavior of the manipulator to detect the unexpected collision between the robotic manipulator and environment. Unlike other method, the developed algorithm uses only the kinematic relationship between the manipulator joint and the end effector. Therefore, the collision estimation signal is not affected by the error of the dynamics model. The proposed collision detection algorithm detects the collision by comparing the estimated acceleration of the end effector derived from the position, velocity and acceleration trajectories of the robot joints with the actual acceleration measured by the sensor. In simulation, we compare the performance of our method with the conventional Residual Observer (ROB). Our method is less sensitive to the load variation because of the independency on the dynamic modeling of the manipulator.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.1542-1546
• /
• 2003

Nanotechnology is an important challenge, for which nanoparticle manipulation plays an important role in the assembly of nano elements. In this study, the dynamic equation of system plant is established by van der Waals force, friction, capillary forces etc. To push nanoparticles, strain gauges are used as sensors to actuate an X-Y stage in an atomic force microscopy system. A strategy of pushing nanoparticles is developed based on sliding mode control. Moreover, afuzzy controller is responsible for compensating tip-particle contact loss according to feedback signals of a laser-detector system. According to position control result, experimental results of gold nanoparticle manipulation are presented.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.121.2-121
• /
• 2001

Many of today´s robot are required to perform tasks which demand a high level of accuracy in end-effector positioning. Those rigid robots are very inefficient and slow because its have large and heavy links, In an attempt to solve these problems, a robots using flexible beam were created. But the single-link flexible beam is infinite-dimensional system. Many researchers have proposed controlling such a beam an approximated model consisting of a finite a number of models. In this paper, we start by deriving the analytic model for the dynamics of general single-link beam, and a controller is designed for flexible beam with integral type servo system bases of the linear matrix inequality (LM) technique. To the end, simulation results show that a designed controller guarantees affective vibration control the single-link flexible beam.

• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.40 no.2
• /
• pp.200-206
• /
• 1991

In this paper, an output feedback is used to reduce the effect of the vibration in the control of a flexible one-link robot arm. A PD control method with a time varying gain is proposed to improve the performance of the system in tip deflection and settling time for the step reference input. By making the change of feedback gain smoothly, th input torque can be made smooth. When there is a payload with unknown mass, an interpolation method which uses the inrehgrated value of the transient response of the hub angle is proposed for the estimation of teh payload mass. This method can be used when the reference input is known and we can get highly accurate estimate for the unknown payload. It is also demonstrated that flexible one-link arm can be controlled prettry accurately by an output feedback in a noisy environment without knowing the mass of the payload.

• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.2
• /
• pp.160-168
• /
• 1997

A $H_{\infty}$self-tuning control scheme for the tip position of a flexible link robot handling unknown loads is presented here. The scheme essentially comprises a recursive least-squares identification algorithm and $H_{\infty}$self-tunning controller. The $H_{\infty}$control low is designed to be robust to uncertain parameters and the self-tunning action provides adaption to unknown parameters. Through numerical study, the performance comparison of the $H_{\infty}$self-tuning controller with a constant gain $H_{\infty}$controller as well as a LQG self-tuning controller clearly shows its superior ability in handling load changes in quiescent states.nt states.

• The Korean Journal of Pain
• /
• v.7 no.2
• /
• pp.211-216
• /
• 1994

Celiac plexus block is performed to relieve intractable upper abdominal cancer pain. Generally, celiac plexus blocks have been performed under control of X-ray fluoroscopy to determine the position of the needle tip and the spread of contrast media. During the period from March 1992 to February 1994, we have performed 21 cases of neurolytic celiac plexus block to alleviate pain of intra-abdominal malignancy. We retrospectively evaluated the location of the needle tip and the spread of contrast media. P-A views of simple abdomen demonstrated the locations of the needle tip: 66.7% of the left needle tips were in upper 3/1 of L1 (6 cases) and $T_{12}-L_1$ interspace (8 cases), 50% of the right needle tips were in upper 1/3 of $L_1$, (6 cases) and $T_{12}-L_1$ interspace (4 cases). Contrast media from the right needle spread upward to middle 1/3 of $T_{10}$ (5 cases) and middle 1/3 of $T_{11}$ (5 cases), downward to middle 1/3 of $L_1$ (6 cases) and lower 1/3 of $L_1$ (3 cases). Contrast media from the left needle were spread upward to middle 1/3 of $T_{10}$ (5 cases) and evenly to other spaces, downward to middle 1/3 of $L_1$, (4 cases) and $L_1-L_2$ interspace (6 cases). We analyze the spread of contrast media according to distance from needle tip by authors score system. Contrast media of right needle spread upward 6.1 and downward 3.4, that of left needle spread upward 6.5 and downward 3.7.

• Proceedings of the KWS Conference
• /
• 2009.11a
• /
• pp.23-23
• /
• 2009

우수한 용접부 품질 때문에 TIG를 이용한 오비탈 용접은 파이프 용접에 널리 사용되고 있다. 하지만 루트갭이 없고 루트페이스가 큰 맞대기 오비탈 용접의 위보기 및 경사상진자세에서는 오목한 이면비드가 형성되기 쉽지만, 이러한 문제를 극복하기 위한 연구는 희박한 실정이다. 본 연구에서는 위보기 및 경사상진자세에서 볼록한 이면비드의 형성을 연구하기위해서 용융지의 제어 방법을 적극적으로 검토하였다. 4mm 두께의 SS400 시편을 위보기 및 경사상진자세에서 각각 Bead-on-plate 용접하고, 이 때 비드성형기의 사용에 따른 비드 형상 변화를 관찰하였다. 텅스텐 전극과 비드 성형기간의 거리(Tip To Former Distance, 이하 TTFD)를 4.5mm에서 7.5mm로 1mm단위로 변경시켜 실험하였으며, TTFD가 증가할수록 위보기 및 경사상진자세에서 이면비드 높이가 감소하였으며 표면비드의 처짐이 증가하였다.

• Proceedings of the Korean Society of Propulsion Engineers Conference
• /
• 2008.11a
• /
• pp.269-272
• /
• 2008

Internal flow field of supersonic nozzle with pintle, which control thrust of solid rocket motor, is very complicated by pintle tip shape and contour of nozzle. For studying of pintle nozzle performance by effects of internal flow field variation with pintle position, cold flow test and numerical analysis about needle type pintle shape were performed and results were presented in this paper. As the results of this study, three types of internal shocks exists in the pintle nozzle and oblique shock is oscillated by pintle position

• Journal of KSNVE
• /
• v.6 no.1
• /
• pp.35-44
• /
• 1996

This paper presents a new type of fuzzy-sliding mode controller for robust tip position control of a single-link flexible manipulator subjected to parameter variations. A sliding mode controller is formulated with an assumption that imposed parameter variations are bounded so that certain deterministic performance can be guaranted. In the design of the sliding mode controller, so called moving sliding surface is adopted to minimize the reaching phase and thus mitigate system sensitivity to the variations. The sliding mode controller is then incorporated with a fuzzy technique to reduce inherently ever-existing chattering which is impediment in position control of flexible manipulators. A set of fuzzy parameters and control rules are obtained from a relation between predetermined sliding surface and representative points in the state space. Computer simulations are undertaken in order to demonstrate superior control performance of the proposed methodology.

• Smart Structures and Systems
• /
• v.20 no.4
• /
• pp.499-508
• /
• 2017

The ionic polymer-metal composite (IPMC) is an electroactive polymer material and has a promising potential as actuators for propulsion and locomotion in underwater systems. In this paper a physics based model is used to analyse the actuation dynamics of the IPMC propulsor. Moreover, proportional-integral (PI) controller is used for position control of the tip displacement of IPMC propulsor. PI parameter tuning is performed using particle swarm optimization (PSO) algorithm. Several performance indices have been used as an objective function to optimize the error of the system. Finally, the best tuning method is found out by comparing the results under various performance indices.