• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2014년도 추계학술대회 논문집
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• pp.930-932
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• 2014

This research is concerned with the validity of a theoretical model that estimates the magnitude of vibration occurring when the flexible two-link structure is activated under control. The structure consists of flexible two-links; the sub link is attached to the end of the main link. The subject is to control flexible two-links and to measure the vibration for each flexible link structure. The result is that the vibration of the main structure affects that of the sub structure, similar to the theoretical outcome.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.280-283
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• 2005

This study performed by a previous research for the applying expert system to active vibration control algorithm. In order to increase productivity and efficiency, high-speed rotating machines become popular these days. They are likely to vibrate and cause machine failure even though they have small unbalance. Therefore, a high-speed rotating machine needs a balancing technique. ISO 11342 classifies flexible rotors in accordance with their balancing requirements and establishes methods of assessment of residual unbalance. But, even if they finished balancing work, they have harmful effect vibration under the high-speed rotating environment. This vibration effect is very small, but it must be removed for the improvement of the rotor's spin accuracy. This paper introduces a new active control method that remove the exciting force by a phase control. For this method, the high-speed rotating rotor was reconstructed by a flexible rotor model. The forces which excite the rotating system suppose cyclic forces, we obtain the responses by numerical method. And then through the pattern analysis about the vibraton responses, the controler generate the control force with the reverse phase and similar magnitude. This paper suggest an phase control method and shows how to improve the rotating vibration accuracy of the flexible rotor dynamics system using phase control method.

• 산업기술연구
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• 제21권B호
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• pp.117-123
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• 2001

In a modern control field, a control engineer who has theoretical backgrounds with some practical knowledge is demanded. That is to say, an engineer who can understand and operate the various parts such as modeling, simulation, system analysis, signal processing, statistics, and hardware is required. In order to prove the theoretical backgrounds and operate various hardwares, a lot of experimental devices for students are designed in universities. Since the conventional experimental devices are manufactured abroad and the prices of the devices are too high, it is difficult to have. If a low cost experimental device can be developed, it will be very useful for a control engineering education. In Ibis paper, an experimental rig which has two control inputs and three sensor outputs to control the end point of a flexible beam is designed and manufactured. This rig can be used for a control field education.

• 대한기계학회논문집A
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• 제24권6호
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• pp.1390-1397
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• 2000

This paper presents the multi-channel active vibration control of a flexible plate of the acoustically loaded enclosure. The flexible plate was excited acoustically with sinusoidal and white noise input. The control was performed by two piezo ceramic actuators and two accelerometers. The experimental results were compared with the single channel control results. In the case of white noise input, 20 dB of vibration reduction was achieved below 300Hz frequency range. The experimental results demonstrate that multi-channel filtered-x LMS algorithm is effective than single-channel filtered-x LMS algorithm in active vibration control of plate.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제1권1호
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• pp.29-34
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• 2001

This paper is devoted to investigating direct adaptive neural control of nonlinear systems with uncertain or unknown dynamic models. In the direct adaptive neural networks control area, theoretical issues of the existing backpropagation-based adaptive neural networks control schemes. The major contribution is proposing the variable index control approach, which is of great significance in the control field, and applying it to derive new stable robust adaptive neural network control schemes. This new schemes possess inherent robustness to system model uncertainty, which is not required to satisfy any matching condition. To demonstrate the feasibility of the proposed leaning algorithms and direct adaptive neural networks control schemes, intensive computer simulations were conducted based on the flexible joint robot systems and functions.

• 대한기계학회논문집A
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• 제20권10호
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• pp.3186-3198
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• 1996

When a robot is to have contact with its enviornment, such as a medi-care robot, it would be advantageous for the robot to have a high compliance. For this reason, a robot having not only a flexible link but also an actuator with compliance, is desirable. This paper is concerned with the position and vibration control of 1 degree of freedom flexible robot using a pneumatic artificial muscle actuator. The dynamics of the manipulator assumed to be and Euler-Bernoulli beam are derived on the basis of the linear mathematical modle. Although this pneumatic artifical muscle actuator has many merits for the compliance robot, it is difficult to make an effective control scheme of this system because of ths nonlinearity and uncertainty on the dynamics of the actuator. By designing a controller using .mu.-synthesis, robust performance against measurement noise, various modeling uncertainties on the dynamics of the servo valve, actuator and mainpulator, is achieved. The effectiveness of the proposed control method is illustrated through simulations and experiments.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1998년도 추계학술대회 학술발표 논문집
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• pp.568-576
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• 1998

In this thesis discuss with a flexible robotic finger design and controller which is used for the micro flexible robotic finger. So, miniaturization, precision, controller for the control of grasping force and actuator were needed. And, even if we develop a new actuator and controller, in order to use on real system, we must considerate of a many side problem. In a force control of micro flexible finger for grasping an object, the fingertip's vibration was more important task of accuracy control. And, controller were adopt the PD/PI mixed type fuzzy controller. The controller were consist of two part, one is a PD type fuzzy controller for increase the rising time response, the other is a PI type fuzzy controller for decrease of steady-state error. Especially, in a PD type fuzzy controller, we used only seven rules. And, for a PI controller, we adopt a reset factor for the control of input values. so, we have overcome the exceed of controller's input range. For the estimate of ontroller's utility and usefulness, we have experiment and computer simulation of three cases. First, we consider of unit force grasping control for a task object, which is 0.03N. Second, bounding grasping force control which is add to a sinusoidal force on the unit force. At this cases the task force is (0.03+0.01 sin wt N). And consider of following of rectangular forces.

• 제어로봇시스템학회논문지
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• 제6권8호
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• pp.682-688
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• 2000

To improve the performance of a flexible robot arm one of the important things is the vibration displacement measurement of a flexible arm. Many types of sensors have been used to measure it, The most popular has been strain gauges which measures the deflection of the beam,. Photo sensors have also been for detecting beam displacement and accelerometers are often used to measure the beam vibration. But the vibration displacement can be obtained indirectly from these sensors. In this article a vision sensor is used as a displacement sensor to measure the vibration displacement of a flexible robot arm. Several schemes are proposed to reduce the image processing time and increase its accuracy. From the experimental results it is seen that the vision sensor can be an alternative sensor for measuring the vibration displacement and has a potential for on-line tip position control of flexible robot systems.

• Smart Structures and Systems
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• 제7권2호
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• pp.103-116
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• 2011

This paper is concerned with the trajectory tracking and vibration suppression of a single-link flexible arm by using piezoelectric materials. The dynamics of a single flexible arm with PZT patches as sensor and actuator is derived using extended Hamilton's principle. Resulting equations show that the coupled beam dynamics including beam vibration and its rigid in-plane rotation takes place in two different time scales. By using singular perturbation theory, the system dynamics is divided into two subsystems. Then, a composite control scheme is elaborated that makes the orientation of the arm track a desired trajectory while suppressing its vibration. The proposed controller has two parts: one is a tracking controller designed for the slow (rigid) subsystem, and the other one is a stabilizing controller for the fast (flexible) subsystem. The outputs considered for the system are angular position of the hub and voltage of the sensor mounted on the structure. To avoid requiring further measurements of beam vibration and also angular velocity of the hub for the fast and slow control laws, respectively, two sliding mode observers for estimating the unknown states are also designed.

• 제어로봇시스템학회논문지
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• 제22권10호
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• pp.817-825
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• 2016

In this paper, we introduce a flexible gripper that we have engineered to precisely pinch in parallel and compliantly grasp objects. As found in most conventional industrial grippers, the parallel pinching property is essential for precise manipulation. On the other hand, the grippers with a flexible structure are more adept at grasping objects with arbitrary shapes and softness. To achieve these disparate properties, we introduce a flexible gripper mechanism composed of multiple flexible beam structures. Utilizing these beam structures, the proposed gripper is able to grasp arbitrarily shaped objects. Additionally, a unique combination of flexible beams enables the gripper to pinch objects using the parallel fingertips for enhanced precision. A detailed description of the proposed mechanism is provided, and an analysis of the strength and stiffness of the fingertip and finger body is presented. The Results section compares the theoretical and experimental analyses and verifies the properties and performance of the proposed gripper.