• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.1004-1011
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• 1996

This paper covers the technology developmental stage work for the automatic ammunition loading system mainly focusing on the controller design of the electro-hydranlic type direct drive multi-axis manipulator. Mathematical model of the plant derived and PIDM servo-controller structured. Comparative study between the analytical and experimental work has been carried out to help understand the response property of the direct dine multi-axis robot. In the direct drive robot, non-negligible amount of disturbance and load Induced dynamics variation are transmitted to the drive axis and nonlinearity is highly observed. Thereupon a robust controller Implementing time-delay control law is proposed, and computer simulation confirms the possibility for the time-delay control application against the unpredictable disturbance and load-Induced dynamics variation.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.3
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• pp.263-271
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• 2017

A captive trajectory simulation (CTS) system is used to investigate the separation behavior of the store model by moving the model to an arbitrary pose and position based on aerodynamic data. A CTS system operated inside a wind tunnel is designed to match the structure of the wind tunnel facility. As a result, each CTS system has different kinematic structure, and inverse kinematic analysis of the system is necessary. In this study, kinematic/inverse kinematic analysis for the CTS system with functional redundancy is performed. Inverse kinematic analysis with combined numerical and analytical approach is especially proposed. The suggested approach utilizes the redundancy to improve the safety of the system, and has advantages in real time analysis.

• Journal of the Korea Society for Simulation
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• v.20 no.1
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• pp.51-59
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• 2011

This paper is concerned with locomotion of dog-like quadruped robots that can adapt to various terrains, mainly dealing with implementation methods and characteristics of static and dynamic gaits. To this end, a 12-DOF robot is built in house, motional trajectories of its body and feet are generated mimicking biological life, and the corresponding leg joint angles are analytically obtained by inverse kinematics. Such joint angle data are then applied to the robot's ADAMS model for computer simulations so that the planned walk and trot gaits are both confirmed dynamically stable. However, contrary to the simulation results, previous trot patterns showed unstable behavior during experiments. This problem led us to analyze the reason, and in the course we discovered the importance of maximally utilizing the concept of WSM rather than ZMP and therefore reducing the gait period to secure the stability of dynamic gaits such as trot.