• Journal of Institute of Control, Robotics and Systems
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• v.14 no.12
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• pp.1286-1293
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• 2008

This paper proposes a realization of robust trajectory tracking for an industrial robot by using PD-sliding mode hybrid control. The PD control has a good performance in the transient period while the sliding mode control has robustness against the system uncertainties. The proposed control method is proposed for the control of a multi-joint robot by taking advantages of both the PD and sliding mode controls. The embodiment of distributed controllers that drive 4-DOF axes has evaluated through experiments with the multi-joint robot AT1. The PD-sliding mode algorithm which is proposed in this paper shows a good performance in the transient period and robustness against disturbances and This paper shows accuracy of end-effector.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1995.04a
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• pp.121-128
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• 1995

The results are summarized as what follows: 1) The modeling of thin beams, which is a continuous system, into a two DOF system yields satisfactory results for the chaotic vibrations. 2) The concept of "natural forcing function" derived from the eigenfunction of the bifurcation mode is very useful for the natural responses of the system. 3) Among the perturbation techniques, HBM is a good estimate for the response when the geometry of motion is known. 4) It is known that there exist periodic solutions of coupled mode response for somewhat large damping and forcing amplitude, as well as weak damping and forcing. 5) The route-to-chaos related with lateral instability in thin beams is composed of period-doubling and quasiperiodic process and finally follows discontinuous period-doubling process. 6) The chaotic vibrations are verified by using Poincare maps, FFT's, time responses, trajectories in the configuration space, and the very powerful technique Lyapunov characteristics exponents.exponents.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.1
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• pp.60-68
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• 1998

Parallel link manipulators have an ability of more precise positioning than serial open-loop manipulators. However. general parallel link manipulators have been restricted to the real applications since they have limited workspace due to interference among actuators. In this study, we suggest a closed-loop manipulator with 6 degrees-of-freedom and with enlarged workspace. It consists of two parts for minimizing the interference among actuators. One part is lower structure with planar 3 degrees-of-freedom and the other is upper one with spatial 3 degrees-of-freedom. Forward kinematics and inverse kinematics are solved, research about singularity points are carried out and workspace is evaluated. The comparison of workspace between Stewart platform, which is the typical parallel link manipulator, and the suggested manipulator shows that the workspace of the latter is wider than that of the former. Especially, simulation results also show that the suggested manipulator is more suitable when there needs rotation in the end-effector.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.940-941
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• 2008

Recently, there are a great many research for magnetic levitation(Maglev) system. Maglev system is eco-friendly used in a place that is not friction. But Maglev is system that inductance is changed according to air-gap, so this is unstable system. In this paper, we simulate 1 Maglev actuator Control and we do an experience on 4 Maglev actuator system control. however, we get a problem of 4 maglev actuator control, because Maglev is 3 DOF(Degree of Freedom). so we control average err of 2 Maglev actuator in the rear.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.452-460
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• 2005

Based on an introduced optimal trajectory planning method, this paper mainly deals with the accuracy analysis during the function approximation process of the optimal trajectory planning method. The basis functions are composed of Hermit polynomials and Fourier series to improve the approximation accuracy. Since the approximation accuracy is affected by the given orders of each basis function, the accuracy of the optimal solution is examined by changing the combinations of the orders of Hermit polynomials and Fourier series as the approximation basis functions. As a result, it is found that the proper approximation basis functions are the $5^{th}$ order Hermit polynomials and the $7^{th}-10^{th}$ order of Fourier series.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.1
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• pp.38-44
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• 1998

The modified maximum likelihood estimation method is used to estimate the nondimensional aerodynamic derivatives of a single turbo-prop aircraft at a specified flight condition for the best deduction of the dynamic characteristics. In wind axes the six degree of freedom equations are algebraically linearized so that the linear state equation contains aerodynamic derivatives in a state-space form and is used in the maximum likelihood method. The simulated data added with the measurement noise is used as a flight test data which is necessary to the estimation of nondimensional aerodynamic derivatives. It is obtained by implementing the 6-DOF nonlinear flight simulation. In the flight simulation, the effects of several control input types, control deflection amplitudes, and the turbulence intensities on the statistical convergence criteria are also examined and quantitative analysis of the results is discussed.

• 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.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.717-720
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• 2002

An Amplitude Proportional Friction Damper (APFD) system is considered in order to improve the stick-slip characteristics of Coulomb friction damper. The frictional force is proportional to the amplitude in APFD system and the system is non-linear as is Coulomb damper system. The free vibration analysis on an 1-DOF system has conducted to demonstrate the characteristics of the APFD system and the results show that the APFD system has similar damping characteristics to the viscous damper system. It is concluded that the APFD system may become a cost effective substitution for the viscous damper and it also has certain advantages over Coulomb damper system since the APFD system can be designed to work with no stick-slip.

• Transactions of the Korean Society of Automotive Engineers
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• v.13 no.1
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• pp.76-82
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• 2005

In this paper, validation of Driver Steering Model has been conducted. The comparison between the simulation model and vehicle test results shows that the model is very feasible for describing combined human driver and actual vehicle dynamic behaviors. The 3D vehicle model is consisted of 6-DOF sprung mass and 4-quarter car model for vehicle body dynamics. Powertrain model including differential gear and Pacejka tire model are applied. The driver steering model is also validated with vehicle test result. The driver steering model is based on angle and displacement error from the desired path, recognized by driver.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.21 no.4
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• pp.1-10
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• 2013

This paper addresses the derivation of 6-DOF equation of Tanker and Receiver's aircraft for aerial refueling. The new set of nonlinear equations are derived in terms of the relative translational and rotational motion of receiver aircraft respect to the tanker aircraft body frame. Further the wind effect terms due to the tanker's turbulence are included. The derivation of absolute dynamic equation for tanker aircraft written in the inertial frame is calculated from the relative dynamics equations of receiver. The derived relative and absolute equations are implemented the simulation in the same flight conditions to verify the relative motion and compare the trim results by using the MATLAB/SIMULINK program.