• International Journal of Control, Automation, and Systems
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• 제1권4호
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• pp.464-473
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• 2003

A method for force-free control is proposed to realize pull-out work by an industrial articulated robot arm. This method achieves not only non-gravity and non-friction motion of an articulated robot arm according to an exerted force but also reflects no change in the structure of the servo controller. Ideal performance of a pull-out work by the force-free control method was assured by means of simulation and experimental studies with a two-degree-of-freedom articulated robot arm.

• Journal of Electrical Engineering and Technology
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• 제3권4호
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• pp.584-592
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• 2008

In this paper, we propose a new model of the magnetic control force exerted on the levitation object in magnetic levitation systems. The model assumes that the magnetic force is a function of the voltage applied to an electromagnet and the position of a levitation object. The function is not explicitly expressed but represented through a 2D lookup table constructed from the experimentally measured data. Unlike the conventional model that reveals only local characteristics of the magnetic force, the proposed model shows global characteristics satisfactorily. Specially devised measurement equipment is utilized in order to gather the data required for model construction. An experimental procedure to construct the model is presented. We apply the proposed model to designing a sliding mode controller for a lab-built magnetic system. The validity of the proposed model is illustrated by comparing the performances of the controller adopting the conventional model with that of the controller adopting the proposed model.

• 한국군사과학기술학회지
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• 제15권4호
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• pp.398-403
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• 2012

This paper describes about the analysis of firing rebounding force exerted on the launching system supporting structure. The measured high pressure data at the launching tube is used as external force. The maximum firing rebounding force was occurred when the snubber of inner structure contacts the surface of wall in launching tube.

• 로봇학회논문지
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• 제14권4호
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• pp.311-317
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• 2019

Direct teaching is an essential function for collaborative robots for easy use by non-experts. For most robots, direct teaching is implemented only in joint space because the realization of Cartesian space direct teaching, in which the orientation of the end-effector is fixed while teaching, requires a measurement of the end-effector force. Thus, it is limited to the robots that are equipped with an expensive force/torque sensor. This study presents a Cartesian space direct teaching method for torque-controlled collaborative robots without either a force/torque sensor or joint torque sensors. The force exerted to the end-effector is obtained from the external torque which is estimated by the disturbance observer-based approach with the friction model. The friction model and the estimated end-effector force were experimentally verified using the robot equipped with joint torque sensors in order to compare the proposed sensorless approach with the method using torque sensors.

• 한국해양공학회지
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• 제18권1호
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• pp.7-9
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• 2004

Using the solution to th contour integral of the complex logarithmic function ${\oint}_cIn(z-z_{0})dz$, the following definite integral, derived from the formula to calculate the forces exerted to n circular cylinder by the discrete vortices shed from it, has been evaluated (equation omitted)

• 대한전기학회논문지:전력기술부문A
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• 제48권9호
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• pp.1140-1146
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• 1999

In this paper, a force estimation method is proposed for force control without force sensor. For this , a disturbance observer is applied to each joint of an {{{{ { n}_{ } }}}} degrees of freedom manipulator to obtain a simple equivalent robot dynamics(SERD) being represented as an n independent double integrator system. To estimate the output of disturbance observer due to internal torque, the disturbance observer output estimator(DOOE) is designed, where uncertain parameters of the robot manipulator are adjusted by the gradient method to minimize the performance index which is defined as the quadratic form of the error signal between the output of disturbance observer and that of DOOE. when the external force is exerted, the external force is estimated by the difference between the output of disturbance observer and DOOE, since output of disturbance observer includes the external torque signal as well as the internal torque estimated by the output of DOOE. And then, a force controller is designed for force feedback control employing the estimated force signal. To verify the effectiveness of the proposed force estimation method, several numerical examples and experimental results are illustrated for the 2-axis direct drive robot manipulator.

• Wind and Structures
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• 제18권4호
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• pp.443-456
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• 2014

A popular modern architectural form for tall buildings is two (or more) towers which are structurally linked through such features as a shared podium or sky-bridges. The fundamental features of the wind loading and the structural links of such buildings can be studied by measuring load components on the individual unlinked towers along with their correlations. This paper describes application of dual high frequency force balance (DHFFB) in a wind tunnel study of the base wind loading exerted on generic tall twin buildings in close proximity. Light models of two identical generic tall buildings of square plan were mounted on DHFFB and the base wind loading exerted on the buildings was simultaneously acquired. The effects of the relative positions of the buildings on the correlations and coherences involving loading components on each building and on the two buildings were investigated. For some relative positions, the effects of the building proximity on the wind loading were significant and the loading was markedly different from that exerted on single buildings. In addition, the correlations between the loadings on the two buildings were high. These effects have potential to significantly impact, for example, the modally-coupled resonant responses of the buildings to the aerodynamic excitations. The presented results were not meant to be recommended for direct application in wind resistant design of tall twin buildings. They were intended to show that wind loading on tall buildings in close proximity is significantly different from that on single buildings and that it can be conveniently mapped using DHFFB.

• 한국산학기술학회논문지
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• 제12권3호
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• pp.1439-1443
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• 2011

본 연구에서는 지중 매설관 주변의 지하수 흐름을 이론적으로 규명해 보았다. 지하수 흐름에 있어서는 비압축, 비회전 흐름을 고려하였다. 지하수 흐름 해석시 복소 포텐셜을 이용하여 흐름을 정의하였는데 지중 매설관이 없는 경우의 균등흐름을 먼저 고려하였고 원 정리에 의해 지중 매설관의 영향을 기존의 균등흐름에 추가하였다. 복소 포텐셜의 선형성에 근거하여 두 개의 흐름을 중첩시킬 수 있으나 이때 특이점의 위치를 고려하여 적절한 복소 포텐셜을 적용함으로써 추가적인 특이점의 이미지를 삽입하지 않도록 하는 효율적인 해석이 필요하다. 최종적으로는 순환을 동반하는 지중 매설관 주변의 흐름을 복소 포텐셜 중첩을 통해 살펴보았고 그 경우 흐름에 의해 지중 매설관에 작용하는 작용력을 유도해 보았다.

• 한국표면공학회지
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• 제35권2호
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• pp.129-137
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• 2002

The purpose of solderability assessment is to predict the effectiveness of soldering process. It is important for companies pursuing zero defects manufacturing because poor solderability is the major cause of two third of soldering failures. The most versatile solderability method is wetting balance method. However, there exist so many indices for wettability in the wetting balance test e.g. time to reach 2/3 values of maximum wetting force, tine to reach zero wetting force, maximum withdrawal force. In this study, three solderability assessment methods, which were the maximum withdrawal force, the wetting balance and the dynamic contact angle (DCA), were evaluated by comparing each other. The wetting balance technique measures the solderability by recording the forces exerted from the specimen after being dipped into the molten solder. Then the force at equilibrium state can be used to calculate a contact angle, which is known as static contact angles. The DCA measures contact angles occurred during advancing and withdrawing of the specimen and the contact angles are known as dynamic contact angles. The maximum withdrawal force uses the maximum force during withdrawal movement and then a contact angle can be calculated. In this study, the maximum withdrawal force method was found to be an objective index for measuring the solderability and the experiment results indicated good agreement between the maximum withdrawal force and the wetting balance method.

• 한국공작기계학회논문집
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• 제13권3호
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• pp.68-75
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• 2004

Recently, need of the parallel manipulator requiring superior precision is increasing for medical application and precision manufacturing. In this study, we convert a given complex translation trajectory of the moving platform into a set of segments and hence a complex motion of the moving platform can be tractable and easily controled in a very limited workspace. In addition force exerted. to each link is minimized so that the minimized force can be transmitted to the end effector of the moving platform. An user friendly program is developed to design Gough-type 6DOF parallel manupulator based on the proposed method.