• Journal of the Korean Society for Precision Engineering
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• v.19 no.10
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• pp.114-119
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• 2002

The aim of this paper is to clarify the structural compliance of the constrained flexible manipulator and to develop the force control algorithm by using the compliance of the links. The proposed structural compliance control consists of the position control to utilize a flexible manipulator model (considering the compensation for the elastic deflection of links) and the passive force control to utilize the rigid manipulator model (without considering the compensation for the elastic deflection of links). We present the experimental results for the case when applying the only position control, and when applying the structural compliance control. Finally, a comparison between these results is presented to show the performance of our method.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.12
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• pp.48-58
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• 2010

In this study, position tracking and force reflection control of a master-slave manipulator which will be used for handling objects contaminated by radioactivity has been addressed. Since available measurements concerning on dynamic motion of the master-slave manipulator are restricted, a simple constrained control structure was suggested. In the consideration of the uncertain dynamic behaviors of the slave manipulator which is dependent upon mass and shape of work pieces grasped and dynamic properties of the environment contacted, a simple structured sliding mode control was suggested to guarantee robustness with respect to parameter uncertainties and external disturbances. The proposed control was applied to a 1-DOF master-slave link system. The control performances were verified along with some computer simulation results.

• Electronics and Telecommunications Trends
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• v.30 no.6
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• pp.21-30
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• 2015

압력센서란 두 물체 간의 상호 작용하는 힘의 크기를 나타내는 물리적 양을 측정하는 디바이스로서 힘의 전달 크기, 힘의 방향 등을 측정하는 데 매우 광범위하게 사용되고 있는 센서이다. 사용하는 분야는 의료, 자동차, 항공, 공업계측, 가전, 환경제어분야 등의 전반적 산업제품과 산업시설에 응용되고 있으며, 측정원리는 힘의 변화에 따른 재료의 변위, 변형, 진동수, 변화, 열전도율 변화 등을 이용하는 것으로 종전의 기계식 감지방법에서 현재는 센서장치의 소형화를 위하여 반도체소자 제작기술과 Micro Electro Mechanical System(MEMS)기술을 이용하는 초소형, 저전력형 센서개발로 계속 발전하고 있다. 본고에서 멤스(MEMS) 압력센서의 최근 제품 기술 개발과 시장 및 산업동향을 알아보고 향후 더욱더 확장될 압력센서제품 기술의 기초 정보를 제공하고자 한다.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.1
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• pp.91-95
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• 2009

We investigated the characteristics of a capacitive nano-accelerometer based on carbon nanotube by means of classical molecular dynamics simulations. The position of the telescoping nanotube was controlled by the externally applied force and the feedback sensing was achieved from the capacitance change. Considering energy dissipation, the oscillation features of the nano-accelerometers were similar, regardless of their initial displacements. The capacitance variations, which were almost linearly proportional to the applied acceleration, were monitored within an error tolerance.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 2002.11a
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• pp.59-65
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• 2002

보다 현실감 있는 가상환경을 제공하기 위하여 시각정보 외에 힘의 정보를 사용자에게 제공할 필요가 있으며, 이러한 힘 반영은 햅틱장치에 의해서 수행된다. 일반적으로 영상 제시기에 의한 영상정보는 낮은 갱신율을 갖는 반면에, 햅틱장치는 상대적으로 높은 갱신율로 인간에게 힘정보를 제공하게 되므로, 이들 정보 간의 동기화가 중요하다. 본 논문에서는 가시모델의 원형을 일반화시켜서 햅틱장치에 전달하고, 영상 제시기의 갱신율과는 상관 없이 햅틱장치 내에서 임의의 구속공간을 만들어서 힘피드백을 수행하는 방법에 대해서 논의하고자 한다.

• Proceedings of the Korean Nuclear Society Conference
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• 1999.10a
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• pp.97.1-97
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• 1999

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.10
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• pp.2554-2566
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• 1994

Robot position/force control has been a difficult task owing to the interaction between a robot and an environment with a rather high stiffness. In addition to the dynamic instability, the interaction causes the following problem : 1) chattering at steady-state, 2) dynamic coupling effect of robot, and 3) performance degradation due to a titled environment. To solve the problem, the Time Delay Control(TDC), which has been known to be quiet robust to plant uncertainties and disturbances, has been applied. In conjunction to TDC, the following three ideas were also used : 1) To reduce the amplitude of the chattering at the steady state, a novel scheme was adopted to enhance the resolution type solution of A/D conversion for the force sensor. 2) To reduce the dynamic coupling, a trajectory type position command was tried on a comparative basis to the step command, as well as a more accurate mass matrix was used instead of the constant mass matrix. 3) And finally to improve the performance in the tilted environment, force derivatives instead of position derivatives were used in the TDC law. Computer simulations and experiments resulted in obvious improvements on the quality of the hybrid control, thereby clearly demonstrating the effectiveness of TDC with the proposed ideas.

• Journal of the Korea Convergence Society
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• v.8 no.11
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• pp.49-56
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• 2017

Curling sweeping is one of important motion to control the position of the curling stone, and sweeping speed and applied force to the broom pad are major research subjects. In this study, a device was developed to measure the force applied to the curling broom pad in curling sweeping motion, and two load cells were mounted between the broom pad and pad holder. Analog signals generated from the load cells were sampled about 300 times per second using a micro controller, and then converted to 10-bit digital signals. Calibration of the load cell and set up of regression equations to convert the measured electrical signals into mass (force) was done by three M1 class weights, and the developed system was designed as wearable device to minimize increasing of total weight of the broom. Same force was applied to the developed system and a force plate that was using as a reference force measurement system in field of sports, and the difference between the measured values were showed about $0.909{\pm}1.375N$(mean and standard deviation). The developed system could be applied other kinds of study which required force measurement function similar to sweeping motion.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.45-51
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• 2009

In this paper, a transparency analysis and network-adaptive transport scheme are proposed in order to improve transparency of EBA-based force-reflecting teleoperation. EBA guarantees stability of force-reflecting teleoperation over network delay and loss but has limitation that it cannot overcome transparency deterioration of haptic interactions. The proposed transparency analysis quantifies the force feedback distortion caused by network delay and loss. Based on the analysis, the proposed haptic data synchronization and transmission rate control schemes adapt synchronization delay and transmission rate to current network state for more transparent haptic interaction. Through Matlab/Simulink simulations, it is confirmed that the proposed analysis provides an acceptable quantification method about haptic interaction quality and that the proposed haptic data transport scheme effectively improves haptic interaction quality with respect to network delays and losses.

• Journal of the Korean Society of Marine Environment & Safety
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• v.19 no.6
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• pp.637-642
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• 2013

In this paper, an analysis results of towing force and towing points which are dominating factors to determine the behavior of towed ship are introduced. The towing force and towing points to achive the desired posture and its position of the towed vessel are derived based on simplified dynamics and linearization method. LQR algorithm for posture control is applied to linearized system and numerical simulation is also executed. Force based on COG(cneter of gravity) and gain of controller to achieve desired posture for target vessel are obtained by using Riccati matrix equation and pseudo inverse matrix is applied to analyze the relation between the derived force and its towing point. Based on this analysis method, towing force need to move the towed vessel from its initial position to target position can be calculated. The towing method including towing point and direction is also considered on this method. Finally, the relation between towing force and towing point is confirmed from the analysis and the results can be applied to arrangement of tug boats during salvage works.