• 한국생산제조학회지
• /
• 제19권4호
• /
• pp.449-454
• /
• 2010

The force control of a constrained flexible manipulators has been one of the major research topics. However, a little effort has been devoted for the relation between friction force and elastic deflection of end-effector for a constrained flexible manipulator. So, the aim of this paper is to clarify the friction mechanism of a constrained spatial multi-link flexible manipulator by changing the material and connected method of end-effector. In this study, a concise hybrid position/force control scheme is applied to the control of a flexible manipulator, and the experimental results for the constrained vertical motion and constrained horizontal motion is presented. Finally a comparison between these results are presented to show the reduction of vibration of link and friction force.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2004년도 추계학술대회논문집
• /
• pp.498-502
• /
• 2004

In a link-motion mechanism, numerous links are interconnected and each link executes a constrained motion at a high speed. Due to the complicated constrained motions of the constituent links, dynamic unbalance forces and moments are generated and transmitted to the main frame. Therefore unwanted vibration is produced. This degrades productivity and precise work. Based on constrained multi-body dynamics, the kinematic analysis is carried out to enable design changes to be made. This will provide the fundamental information for significantly reducing dynamic unbalance forces and moments which are transmitted to the main frame. In this work, a link-motion punch press is selected as an example of a link-motion mechanism. To calculate the mass and inertia properties of every link comprising a link-motion punch press, 3-dimensional CAD software is utilized. The main issue in this work is to eliminate the first-order unbalance force and moment in a link-motion punch press. The mass, moment of inertia link length, location of the mass center in each link have a great impact on the degree of dynamic balancing which can be achieved maximally. Achieving good dynamic balancing in a link motion punch press is quite essential fur reliable operation at high speed.

• 소음진동
• /
• 제7권5호
• /
• pp.773-780
• /
• 1997

Using Generalized Inverse Method presented by Udwadia and Kalaba in 1992, we can obtain equations to exactly describe the motion of constrained systems. When the differential equations are numerically integrated by any numerical integration scheme, the numerical results are generally found to veer away from satisfying constraint equations. Thus, this paper deals with the numerical integration of the differential equations describing constrained systems. Based on Baumgarte method, we propose numerical methods for reducing the errors in the satisfaction of the constraints.

• 한국생산제조학회지
• /
• 제22권3_1spc호
• /
• pp.558-565
• /
• 2013

This paper describes a whole-body (human body's) motion generation scheme for an android robot that uses motion capture device and a nonlinear constrained optimization method. Because the captured motion data are based on global coordinates and the actors have different heights and different upper-lower body ratios, the captured motion data cannot be used directly for a humanoid robot. In this paper, we suggest a method for obtaining robot joint angles, which allow the resultant robot motion to be as close as possible to the captured human motion data, by applying a nonlinear constrained optimization method. In addition, the results are animated to demonstrate the similarity of the motions.

• Journal of Mechanical Science and Technology
• /
• 제18권10호
• /
• pp.1691-1699
• /
• 2004

The objective of this study is to present an accurate and simple method to describe the motion of constrained mechanical or structural systems. The proposed method is an elimination method to require less effort in computing Moore-Penrose inverse matrix than the generalized inverse method provided by Udwadia and Kalaba. Considering that the results by numerical integration of the derived second-order differential equation to describe constrained motion veer away the constrained trajectories, this study presents a numerical integration scheme to obtain more accurate results. Applications of holonomically or nonholonomically constrained systems illustrate the validity and effectiveness of the proposed method.

• 방송공학회논문지
• /
• 제20권2호
• /
• pp.257-264
• /
• 2015

본 논문에서는 개선된 이진 블록 매칭 방법을 사용한 제한된 1비트 변환 (Constrained One-bit Transform : C1BT) 알고리듬을 제안한다. 이진 영상 기반의 움직임 예측은 기존의 정합 오차 기준인 SAD (Sum of Absolute Difference)를 사용한 움직임 예측의 방대한 계산량을 줄이기 위해 정합오차 기준을 이진 논리 연산을 사용하는 NNMP (Number of Non-Matching Points)를 사용하여 움직임 예측의 속도를 향상시키고 하드웨어 구현을 용이하게 하는 방법이다. C1BT 알고리듬은 기존의 1BT알고리듬이 원본의 픽셀값을 1개의 비트만으로 표현하며 발생하는 단점을 보완하여 이진 영상 기반의 움직임 예측의 정확도를 향상시킨 알고리듬이다. 이 논문에서는 이진 블록 기반의 움직임 예측이 작은 크기의 정합블록을 사용할 때 더욱 정확한 정확도를 갖는 방법을 제안하였다. 기존의 C1BT기반의 움직임 예측의 결과와 제안하는 알고리듬의 결과를 비교해 보았을 때 PSNR측면에서 더 우수한 성능을 갖는 것을 볼 수 있다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
• /
• pp.559-564
• /
• 1993

Nonlinear equation of motion of the flexible manipulator are derived by the Lagrangian method in symbolic form to better understand the structure of the dynamic model. The resulting equations of motion have a structure which is useful to reduce the number of terms calculated, to check correctness, or to extend the model to high order. A manipulator with a flexible 4 bar link mechanism is a constrained system whose equations are sensitive to numerical integration error. This constrained system is solved using the null space matrix of the constraint Jacobian matrix. Singular value decomposition is a stable algorithm to find the null space matrix.

• 한국소음진동공학회논문집
• /
• 제11권7호
• /
• pp.261-266
• /
• 2001

The flexural vibration of laminated composite beams with active and passive constrained layer damping has been investigated to design a structure with maximum possible damping capacity. The equations of motion are derived fro flexural vibrations of symmetrical,. multi-layer laminated beams. The damping ratio and model damping of the first bending mode are calculated by means of iterative complex eigensolution method. The direct negative velocity feedback control is used for the active constrained layer damping. It is shown that the flexible laminated beam is more effective in the vibration control for both active and passive constrained layer damping. and this paper addresses a design strategy of laminated composite under flexural vibrations with constrained layer damping.

• Journal of Mechanical Science and Technology
• /
• 제14권2호
• /
• pp.159-167
• /
• 2000

A computational method for the dynamic analysis of a constrained mechanical system is presented in this paper. The partial velocity matrix, which is the null space of the Jacobian of the constraint equations, is used as the key ingredient for the derivation of reduced equations of motion. The acceleration constraint equations are solved simultaneously with the equations of motion. Thus, the total number of equations to be integrated is equivalent to that of the pseudo generalized coordinates, which denote all the variables employed to describe the configuration of the system of concern. Two well-known conventional methods are briefly introduced and compared with the present method. Three numerical examples are solved to demonstrate the solution accuracy, the computational efficiency, and the numerical stability of the present method.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2002년도 추계학술대회논문초록집
• /
• pp.310.1-310
• /
• 2002

Dynamic characteristics of smart laminated composite plates with passive constrained layer damping have been investigated to design structure with maximum possible damping capacity. The equations of motion are derived fur flexural vibrations of symmetrical, multi-layer laminated plates. The damping ratio and modal damping of the first bending and torsional modes are calculated by means of iterative complex eigensolution method. (omitted)