• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.959-964
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• 1992

This study treats the method for kinematic modeling of the biped walking robot, for synthesizing various gait trajectories, and for calculating adequate values of the joint torque inside the stable region. To synthesize various and anthropomorphic walking easily, the gait trajectory is specified by a set of ten walking prameters, and the trunk motion equation is derived by the zero moment point and the gait trajectory. By distributing ground reaction force and moment reduced at the zero moment point to the both feet, the joint torque equation can be derived readily, and according to this equation, the joint torque to stable walking can be computed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.2
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• pp.170-176
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• 2008

Anti roll bar model for real time multibody vehicle dynamics model has been proposed using kinematic constraint. Anti roll bar have been modeled by kinematic relationship, and mass properties are neglected. Relative angle of torsion bar spring is computed by constraint about drop-link using Newton-Raphson iteration, and then the torque of torsion bar spring can be computed with the angle and torsion spring stiffness. Finally anti roll bar force acting on both knuckle can be calculated. To validate the proposed method, half car simulations of McPherson strut suspension and full car simulations are also carried out comparing with the ADAMS vehicle model with anti roll bar. CPU times are also measured to see the real-time capabilities of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1047-1051
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• 1993

A fuzzy controller of a manipulator with artificial rubber muscles is proposed. The fuzzy logic controller as a compensator is described to control the trajectory tracking of a -two link manipulator, where computed torque control method has already assumed to be applied. We shows that the fuzzy compensator with a simple adaptive scaling technique is effective for the robust control when there exist model uncertainties and/or untuned feedback gains. The effectiveness of the proposed control method is illustrated by some experimental results for a circular path tracking.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.2
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• pp.53-62
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• 2018

This study propose a new approach to control the optimal working path of vertical type articulated robot with translation joint for trimming working process automation in forging manufacturing process. The basic structure of the proposed robotic joints controller consists of a Proportional-Intergral controller and a Proportional-Derivative controller in parallel. The proposed control scheme takes advantage of the properties of the fuzzy PID controllers. The proposed method is suitable to control of the trajectory and path control in cartesian space for vertical type articulated robot manipulator. The results illustrates that the proposed fuzzy computed torque controller is more stable and robust than the conventional computed torque controller. The reliability is varified by simulation test for vertical type s articulated robot with seven joints including one trqanslation joint.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.4
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• pp.545-551
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• 2015

This paper deals with torque analysis of magnetic spur gear with radial magnetized permanent magnets based on analytical method. The analysis is implemented in three parts: First, on the basis of magnetic vector potential and a two-dimensional (2D) polar-coordinate system, the magnetic field solution due to permanent magnet of source gear are obtained. And by using derived magnetic field solutions, the analytical solutions for external magnetic field distribution which affects load gear are obtained. Second, by using coordinate conversion, external magnetic field which is on the primary coordinate system is converted to the secondary coordinate system. Finally, the load gear is reduced to equivalent current densities, and the torque is computed on these currents in the external field of the source magnet. These analytical results are validated by comparing with the 2-D finite element analysis (FEA).

• Korean Journal of Applied Biomechanics
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• v.24 no.4
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• pp.339-347
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• 2014

The purpose of this study was to investigate joint torques of lower body segments on professional golfers. Three dimensional swing analysis was conducted on the seven subjects. Each subject was asked to swing with 45 inches of Callaway driver, where two force plates (9286AA, Kistler, Switzerland) were built, with his normal speed and tempo. The resultant joint moments of the lower extremities were computed using the kinematic variables of the segments, anthropometric measures and the ground reaction force data by inverse dynamics method. Based on the results of this study, the following conclusions were drawn; It was found that the left ankle joint torque at 3rd phase was increased toward extension on the X-axis and abduction on the Y-axis. The left knee joint torque was alternated from flexion to extension direction in order to lower down the body weight at the beginning of the downswing. The lumbar joint torque was alternated from flexion to extension in order to speed up the upper body rotation which could increase the club head speed ultimately.

• Korean Journal of Applied Biomechanics
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• v.27 no.2
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• pp.83-90
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• 2017

Objective: To investigate the effect of short-term vibration frequencies on muscle force generation capabilities. Method: Six healthy participants were recruited for this study and only their dominant leg was tested. The subjects were tested under five conditions of vibration frequencies with constant amplitude: 0 Hz (no vibration), 30 Hz, 60 Hz, and 90 Hz, and the vibration amplitude was 10 mm for all frequency conditions. The vibration was applied to the rectus femoris (RF). The subjects were then instructed to maintain a steady-state isometric knee joint torque (100 Nm) for the first 6 s. After the steady-state torque production, the subjects were required to produce isometric knee joint torque by leg extension as hard as possible with a start signal within the next 3 s. The vibration was applied for ~4 s starting from 1 s before initiation of the change in the steady-state knee joint torque. Results: The results showed that the maximum voluntary torque (MVT) of the knee joint increased with the vibration frequencies. On average, the MVTs were 756.47 Nm for 0 Hz (no vibration) and 809.61 Nm for 90 Hz. There was a significant positive correlation (r = 0.71) between the MVTs and integrated electromyograms (iEMGs). Further, the co-contraction indices (CCIs) were computed, which represent the ratio of the iEMGs of the antagonist muscle to the iEMGs of all involved muscles. There was a significant negative correlation (r = 0.62) between the CCIs and MVTs, which was accompanied by a significant positive correlation (r = 0.69) between the iEMGs of the vibrated muscle (RF). There was no significant correlation between the MVTs and iEMGs of the antagonist muscle. Conclusion: The results of this study suggest that the short-term vibration on the muscle increases the level of muscle activation possibly owing to the increased Ia afferent activities, which enhances the muscle force generation capability.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1671-1676
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• 1991

Direct digital design of computed torque controllers for a robot manipulator is discussed in this paper. A simple discrete-time model of the robot manipulator obtained by Euler's method is used for the design. Taking account of computation delay in the digital processor, we propose predictor-based designs of the PD and PID type controllers. The PID type controller is designed based on a modified version of the discrete-time integral controller proposed by Mita. For both controllers, the same formulas can be used to determine the feedback gains. A simulation example is presented to compare the robustness of the proposed controllers against physical parameter variations.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.194-199
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• 1989

In this paper, using the direct drive arm for plant, the controller is developed to track the desired trajectory in high speed and precision. For the purpose of this, through extending self-tuning pole-placement algorithm, we developed self-tuning pole-shift algorithm which is fast in response and good tracking for the reference tracking change. Developed controller is applied a three-link direct drive arm with the varing payload to track the desired tracking. And, through the computer simulation, the performance of developed controller is compared with the performance of the computed torque method and the self-tuning pole placement algorith.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.32-36
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• 1988

Generally, for nonlinear control of robotic system, the method of computed torque or inverse dynamics is frequently used. In this case, exact knowledge of the system parameters is required, however. This paper addresses the problem of nonlinear control when the parameter of system is varied. The approach is based upon decoupled model following. As an example, control of a three degree of freedom manipulator arm under mass variation is simulated.