• Transactions of the Korean Society of Machine Tool Engineers
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• v.14 no.4
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• pp.81-88
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• 2005

This paper attempts to derive the dynamic model of handling tasks in finger robot which grasps stable and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, the roblems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. The effect of geometric constraints of area-contacts between the link's end-effector and the object is analyzed and the model based on the differential-algebraic equations is presented. In this paper, the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation and the experiment that the control system gives the performance improvement in the dynamic stable grasping and nimble manipulating of the dual fingers robot with soft tips.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.10a
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• pp.219-224
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot finger which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of area-contact is discussed. Finally, it is shown that even in the simplest case of dual single D.O.F manipulators there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that the object is of rectangular shape and motion is confined to a horizontal plane.

• Structural Engineering and Mechanics
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• v.39 no.1
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• pp.47-75
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• 2011

An accurate substructural synthesis method including random responses synthesis, frequency-response functions synthesis and mid-order modes synthesis is developed based on rigorous substructure description, dynamic condensation and coupling. An entire structure can firstly be divided into several substructures according to different functions, geometric and dynamic characteristics. Substructural displacements are expressed exactly by retained mid-order fixed-interfacial normal modes and residual constraint modes. Substructural interfacial degree-of-freedoms are eliminated by interfacial displacements compatibility and forces equilibrium between adjacent substructures. Then substructural mode vibration equations are coupled to form an exact-condensed synthesized structure equation, from which structural mid-order modes are calculated accurately. Furthermore, substructural frequency-response function equations are coupled to yield an exact-condensed synthesized structure vibration equation in frequency domain, from which the generalized structural frequency-response functions are obtained. Substructural frequency-response functions are calculated separately by using the generalized frequency-response functions, which can be assembled into an entire-structural frequency-response function matrix. Substructural power spectral density functions are expressed by the exact-synthesized substructural frequency-response functions, and substructural random responses such as correlation functions and mean-square responses can be calculated separately. The accuracy and capacity of the proposed substructure synthesis method is verified by numerical examples.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.84-91
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• 2002

A new composite control method for a carriage balancing single inverted pendulum system is proposed and applied to swing up the pendulum and to stabilize it under the state constraint. The target inverted pendulum system has an extremely limited length of the cart(below 16cm). The proposed swing-up controller comprises a sliding mode control algorithm and an optimal control algorithm based on two regions: the region near the inverted unstable equilibrium position and the rest of the state space including the downward stable equilibrium position. The sliding mode controller uses a switching control action to converge along the specified path(hyperplane) derived from energy equation from a state around the path to desired state(standing position). An optimal control method is also used to guarantee the stability at unstable equilibrium position. Compared with the reported controllers, it is simpler and easier to implement. Experimental results are given to show the effectiveness of this controller.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.05a
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• pp.216-221
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• 2004

In two dimensional incompressible flaws, a preconditioning technique called Hierarchical Iterative Procedure(HIP) has been implemented on a SUPG finite element formulation. By using the SUPG formulation, one can escape from the LBB constraint and hence achieve an equal order formulation. In this paper, we increased the order of interpolation up to cubic. The conjugate gradient squared(CGS) method is used for the outer iteration, and the HIP for the preconditioning for the incompressible Navier-Stokes equation. The hierarchical elements has been used to achieve a higher order accuracy in fluid flaw analyses, but a proper efficient iterative procedure for higher order finite element formulation has not been available so far. The numerical results by the present HIP for the lid driven cavity flaw showed the present procedure to be stable, very efficient and useful in flaw analyses in conjunction with hierarchical elements.

• Journal of information and communication convergence engineering
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• v.8 no.2
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• pp.145-149
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• 2010

In this paper, we propose a kinematic approach to estimating the real-time moving object. A new scheme for a mobile robot to track and capture a moving object using images of a camera is proposed. The moving object is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the active camera. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time path to capture the moving object, the linear and angular velocities are estimated and utilized. The experimental results of tracking and capturing of the target object with the mobile robot are presented.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1769-1775
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• 2004

In presence of collision between two rigid bodies, they exhibit impulsive behavior to generate physically feasible state. When the frictional impulse is involved, collision resolution can not be easily made based on a simple Newton's law or Poisson's law, mainly due to possible change of collision mode during collision, For example, sliding may change to sticking, and then sliding resumes. We first examine two conventional methods: the method of mode evolution by differential equation, and the other by linear complementarity programming. Then, we propose a new method for mode evolution by solving only algebraic equations defining mode changes. Further, our method attains the original nonlinear impulse cone constraint. The numerical simulation will elucidate the advantage of the proposed method as an alternative to conventional ones.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2008.04a
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• pp.391-396
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• 2008

A level set based topological shape optimization using extended B-spline basis functions is developed for steady state heat conduction problems. The only inside of complicated domain is identified by the level set functions and taken into account in computation. The solution of Hamilton-Jacobi equation leads to an optimal shape according to the normal velocity field determined from the sensitivity analysis, minimizing a thermal compliance while satisfying a volume constraint. To obtain exact shape sensitivity, the precise normal and curvature of geometry need to be determined using the level set and B-spline basis functions. The nucleation of holes is possible whenever and wherever necessary during the optimization using a topological derivative concept.

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2717-2720
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• 2003

A mathematical framework for deriving acceleration bounds from given joint torque limits of two cooperating robots are described in this paper. Especially when the torque limits are given in 2-norm, the resultant geometrical configuration is ellipsoid(the ellipsoid is often called manipulability ellipsoid in many works). At first, the mathematical derivation starts from the dynamics of both object and robots as well as the kinematics of the robots, and is finally arranged in a form of equation relating joint torques to object acceleration through a complete constraint contact(or “very-soft contact”). To show the usefulness of the proposed method, two examples are included, and especially the case where friction effects the ellipsoid shape is also considered In the example.

• International Journal of Control, Automation, and Systems
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• v.3 no.3
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• pp.444-452
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• 2005

A new scheme for a mobile robot to track and capture a moving object using camera images is proposed. The moving object is assumed to be a point-object and is projected onto an image plane to form a geometrical constraint equation that provides the position data of the object based on the kinematics of the active camera. Uncertainties in position estimation caused by the point-object assumption are compensated for using the Kalman filter. To generate the shortest time path to capture the moving object, the linear and angular velocities are estimated and utilized. In this paper, the experimental results of the tracking and capturing of a target object with the mobile robot are presented.