• Journal of KSNVE
• /
• v.7 no.3
• /
• pp.387-392
• /
• 1997

This paper concerns a SCARA robot with the flexible forearm linked to the rigid upper arm. The equations of motion are derived by the Lagrangian mechanics. For controller design, the perturbation approach is taken to separate the original equations of motion into linear equations describing small perturbed motions and nonlinear equations describing purely rigid motion of the robot. To effect the desired payload motion, open loop control inputs are determined based on the inverse dynamics of the latter. In order to reduce the positional error during maneuver, an active vibration suppression is done. To this end, a feedback control is designed for robustness against disturbance on the basis of the linear equations and the LQR theory modified to have a prescribed degree of stability. The proposed control scheme shows satisfactory performances in experiments as well as in numerical simulations.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.225-228
• /
• 1996

This paper concerns a SCARA type robot with the second arm flexible. Its equations of motion are derived by the Lagrangian mechanics. For controller design, the perturbation approach is taken to separate the original equations of motion into linear equations describing small perturbed motions and nonlinear equations describing purely rigid motion of the robot. To effect the desired payload motion, open loop control inputs are first determined based on the inverse dynamics of the latter. Next, in order to reduce the positional error during maneuver, an active vibration suppression is done. To this end, a feedback control is designed for robustness against disturbance on the basis of the linear equations and the LQR theory modified with a prescribed degree of stability. The numerical simulations results show the satisfactory control performance.

• Structural Engineering and Mechanics
• /
• v.4 no.4
• /
• pp.365-381
• /
• 1996

Stability equations that evaluate the elastic critical axial load of columns in any type of construction with sidesway uninhibited, partially inhibited, and totally inhibited are derived in a classical manner. These equations can be applied to the stability of frames (unbraced, partially braced, and totally braced) with rigid, semirigid, and simple connections. The complete column classification and the corresponding three stability equations overcome the limitations and paradoxes of the well known alignment charts for braced and unbraced columns and frames. Simple criteria are presented that define the concept of partially braced columns and frames, as well as the minimum lateral bracing required by columns and frames to achieve non-sway buckling mode. Various examples are presented in detail that demonstrate the effectiveness and accuracy of the complete set of stability equations.

• Journal of Mechanical Science and Technology
• /
• v.16 no.5
• /
• pp.639-646
• /
• 2002

In this paper, thrust equations for a rubber belt CVT are derived by considering the geometry and mechanism of the mechanical actuators. In order to solve the thrust equations, an algorithm to calculate the speed ratio is suggested for the given driver speed and load torque based on the actuator characteristic equations and existing formula for the belt thrust forces. Experiments are performed to investigate the driver speed-load torque-speed ratio characteristics at a steady state. The speed and torque efficiencies are measured and used to modify the actuator equations. It is found that the modified equations well predict the steady state characteristics. In addition, the shift dynamic model for a rubber belt CVT is derived experimentally. Simulation results of the CVT shift dynamics are in good accordance with the experiments and it is noted that different coefficients are required to describe the CVT shift dynamics for the upshift and the downshift.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.10 no.1
• /
• pp.101-111
• /
• 2001

Recursive formulas have been effective in solving the equations of motion for large scale constratined mechanical sys-tems. However, derivation of the formulas has been limited to individual terms in the equations of motion, such as veloci-ty, acceleration. and generalized forces. The recursive formulas are generalized in this paper. The velocity transformation method is employed to transform the equations of motion from Cartesian to the joint spaces. Computational structure of the equations of motion in the joint space is carefully examined to classify all necessary computational operations into sev-eral categories. The generalized recursive formula for each category is then developed and applied whenever such a cate-gory of computation is encountered. Since the velocity transformation method yields the equations of motion in a compact form and computational efficiency is achieved by generalized recursive formulas, the proposed method is not only easy to implement but is also efficient. A library of generalized recursive formulas is developed to implement a dynamic analysis algorithm using backward difference.

• 한국방재학회:학술대회논문집
• /
• 2010.02a
• /
• pp.85-85
• /
• 2010

Discrete torsional bracing systems are widely used in practice to increase the strength of I-girders bridges. This paper proposes equations for lateral-torsional buckling strength, torsional natural frequency and stiffness requirements of I-girders with discrete torsional bracings. Firstly, the equations to calculate the critical moment of the I-girder with discrete torsional bracings are introduced. The proposed equations are then compared with the results of finite element analyses and those from previous studies. The equations to calculate the torsional natural frequency are also presented in the same manner. From the results, it is found that proposed equations agree well with results of finite element analyses regardless of the number of bracing points. Finally, the reduced formula for the total torsional stiffness requirement is proposed for the design purpose.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.1464-1468
• /
• 1997

We propose a decentralized state estimation method in the multisensor state estimation problem. The proposed method bounds teh maximum energy gain from uknown external disturbances to the estimation errors in the suboptimal case. And we formulate aternative H/sip .inf./ filter gain equatiions with teh idea that the suboptimal H.$^{\infty}$ filter is the special form of Kalman filter filter whose state equations are defined in indefinite inner product spaces. Using alternative filter gain equations we design the decentralized $H^{\infty}$ state estimator which is composed of local filters and central fusion filter that are suboptimal in the $H^{\infty}$ sense. In addition, the proposed update equations between global and local data can reduce unnecessary calculation burden efficently.y.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 2005.04a
• /
• pp.167-174
• /
• 2005

Through time-dependent analyses of RC bridges constructed by a movable scaffolding system (MSS) considering the construction sequence and creep deformation of concrete, structural responses related to the member forces are reviewed. On the basis of the compatibility condition and equilibrium equation at every construction stage, basic equations that can describe the moment variation with time in movable scaffolding construction are derived. By using the introduced relations, the design moment and its variation over time can easily be obtained with only the elastic analysis results and without additional time-dependent analyses considering the construction sequences. In addition, the design moments determined by the introduced equations are compared with the results from a rigorous numerical analysis with the objective of establishing the relative efficiencies of the introduced equations.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2006.11a
• /
• pp.451-456
• /
• 2006

This paper is concerned with the dynamic modeling and controller design for a cylindrical shell equipped with MFC actuators. The dynamic model was derived by using Rayleigh-Ritz method based on Donnel-Mushtari shell theory. The actuator and sensors for the MFC actuator equations were derived based on pin-force model. The boundary conditions at both ends were assumed to be shear diaphragm. After calculating the natural vibration characteristics, the positive position feedback controller was designed to cope with the first two modes. To this end, the equations of motion were reduced to modal equations of motion by considering the modes of interest. The theoretical results show that vibrations can be successfully suppressed.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2007.05a
• /
• pp.75-80
• /
• 2007

This paper is concerned with the dynamic modeling and controller design for a cylindrical shell equipped with MFC actuators. The dynamic model was derived by using Rayleigh-Ritz method based on Donnel-Mushtari shell theory. The actuator and sensors for the MFC actuator equations were derived based on pinforce model. The boundary conditions at both ends were assumed to be shear diaphragm. After calculating the natural vibration characteristics, the positive position feedback controller was designed to cope with the first two modes. To this end, the equations of motion were reduced to modal equations of motion by considering the modes of interest. The theoretical results show that vibrations can be successfully suppressed.