• Journal of the KSME
• /
• v.43 no.8
• /
• pp.57-63
• /
• 2003

2002년 한 해 동안 동역학 및 제어 분야의 연구 동향을 동역학, 진동, 계측, 제어, 기구학, 로봇공학, 차량공학 등으로 나누어 각 분야에 대하여 정리하였다.

• Transactions of the KSME C: Technology and Education
• /
• v.3 no.2
• /
• pp.155-164
• /
• 2015

Recently, the robot manipulators are needed more slim size and longer reach and more accurate movement for increasing productivity. So, in this paper, the simulation modeling method and the efficient modeling method for new slim & long reach robot has been investigated for forecasting the slim robot performance before making prototype. To do this investigation, the major parts of robot driving system such as motor, belt and reducer devices and parts assembly method have been investigated mainly. And then, using this developed modeling method the new designed robot will be forecasted about the dynamic performance of new designed robot.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2004.05a
• /
• pp.271-271
• /
• 2004

다양한 목적으로 개발이 요구되는 로봇의 작업환경과 운동능력에 맞게 로봇을 개발하기 위해서는 다음의 설계 과정을 필요로 한다. 하나, 로봇의 전체 설계 중 개념설계/기초설계로 로봇링크의 길이나, 작업영역에 대한 설계 변수를 결정하는 로봇 기구설계. 둘, 로봇 상세설계로 작업을 실행하는데 필요한 운동능력에 대한 설계 변수를 결정하는 로봇 동역학 설계. 셋, 로봇 기구, 동역학 설계를 기초로 하여 로봇이 최적의 성능을 발휘할 수 있는 로봇 부품들에 대한 요소품 설계가 있다.(중략)

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.38 no.6
• /
• pp.585-592
• /
• 2014

In this study, a multibody simulator was developed to analyze the bio-mimetic motion of a lizard robot design. A RecurDyn multibody dynamics model of a lizard was created using a micro-computerized tomography scan and motion capture data. The bio-mimetic motion simulator consisted of a trajectory generator, an inverse kinematics module, and an inverse dynamics module, which were used for various walking motion analyses of the developed lizard model. The trajectory generation module produces spinal movements and gait trajectories based on the lizard's speed. Using the joint angle history from an inverse kinematic analysis, an inverse dynamic analysis can be carried out, and the required joint torques can be obtained for the lizard robot design. In order to investigate the effectiveness of the developed simulator, the required joint torques of the model were calculated using the simulator.

• ICROS
• /
• v.11 no.3
• /
• pp.48-51
• /
• 2005

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.34 no.8
• /
• pp.1023-1028
• /
• 2010

Recently, an intelligent service robot is being developed for use in guiding and providing information to visitors about the building at public institutions. The intelligent robot has a sensor at the bottom to recognize its location. Four wheels, which are arranged in the form of a lozenge, support the robot. This robot cannot be operated on uneven ground because its driving parts are attached to its main body that contains the important internal components. Continuous impact with the ground can change the precise positions of the components and weaken the connection between each structural part. In this paper, the design of the suspension system for such a robot is described. The dynamic model of the robot is created, and the driving characteristics of the robot with the designed suspension system are simulated. Additionally, the suspension system is optimized to reduce the impact for the robot components.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.39 no.3
• /
• pp.275-282
• /
• 2015

Recently, Vecna BEAR type robot to save injured individuals from inaccessible areas has been developed to minimize the loss of life. Because this robot is driven on rough terrain, there is a risk of rollover and vibration, which could impact the injured. In order to guarantee its stability, an algorithm is required that can estimate the speed limits for various environments in real time. Therefore, a dynamic model for real-time analysis is needed for this algorithm. Because the tracks used as the driving component of Vecna BEAR type robot consist of many parts, it is impossible to analyze the multibody tracks in real time. Thus, a lumped track model that satisfies the requirements of a short computation time and adequate accuracy is required. This study performed lumped track modeling, and the traction force was verified using RecurDyn, which is a dynamic commercial program.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.19 no.1
• /
• pp.26-34
• /
• 2015

In this paper, a fuzzy compensated PID control system is proposed for formation control of mobile robots. The control system consists of a kinematic controller based on the leader-follower approach and a dynamic controller to handle dynamics effects of mobile robots. To maintain the desired formation of mobile robots, the dynamic controller is equipped with a PID controller; however, the PID controller has poor performance in nonlinear and changing environments. In order to improve these problem, we applied the additional fuzzy compensator. Finally, the proposed control system has been evaluated through computer simulation to demonstrate the improved results.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.39 no.12
• /
• pp.1213-1220
• /
• 2015

A deep seabed integrated mining system consists of a mining vessel, a lifting pipe, a buffer station, a flexible pipe, and a mining robot for collecting manganese nodules. Recently, the concept of multiple mining robots was introduced to enhance to mining productivity. In this paper, the subsystem synthesis method was applied to the deep seabed integrated mining system in order to improve the efficiency of system analysis and to facilitate its extension to the system of multiple mining robots. Large deflections of the lifting and flexible pipe were considered by dividing a flexible pipe into several substructures, and applying flexible multibody dynamics to each substructure. Theoretical study has been carried out for the efficiency of the subsystem synthesis method for the integrated mining system, by comparing the arithmetic operational counts of the subsystem synthesis method with those of the conventional method.

• 전자공학회논문지 IE
• /
• v.46 no.4
• /
• pp.73-77
• /
• 2009

This paper presents the trajectory tracking control for mobile robot. The designed controller consists of kinematic and dynamic controller. Kinematic controller has two gains and it reduces the trial time for gain setting as compared convectional controller with three gains. Dynamic controller includes the compensation of friction and disturbance. It can improve the performance of the trajectory tracking under the various environment. Simulation results shows that the proposed controller has a stable performance.