• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.853-858
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• 2016

Cooperation and collaboration with robots are key functions of robotic utility that are currently developing. Thus, robots should be safe and resemble human beings to cope with these needs. In particular, dual-arm robots that mimic human kinetics are becoming the focus of recent industrial robotics research. Their size is similar to the size of a human adult; however, they lack natural, human-like motion. One of the critical reasons for this is the shoulder complex. Most recent dual-arm robots have only 2 degrees of freedoms (DOFs), which significantly limits the workspace and mobility of the shoulders and arms. Therefore, a redundant shoulder complex could be very important in new developments that enable new capabilities. However, constructing a kinematically redundant shoulder complex is difficult because of spatial constraints. Therefore, we propose a novel, redundant shoulder complex for a human-like robot that is driven by flexible wire tendons. This kinematically redundant shoulder complex allows human-like robots to move more naturally because of redundant DOFs. To control the proposed shoulder complex, a hybrid control scheme is used. The positioning precision has also been considered, and the ability of the shoulder complex to perform several human-like motions has been verified.

• Journal of Electrical Engineering and Technology
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• v.9 no.5
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• pp.1471-1481
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• 2014

This paper presents the new power dissipation model of individual switching device in a high-level modular multilevel converter (MMC), which can be mostly used in voltage sourced converter (VSC) based high-voltage direct current (HVDC) system and flexible AC transmission system (FACTS). Also, the voltage balancing method based on sorting algorithm is newly proposed to advance the MMC functionalities by effectively adjusting switching variations of the sub-module (SM). The proposed power dissipation model does not fully calculate the average power dissipation for numerous switching devices in an arm module. Instead, it estimates the power dissipation of every switching element based on the inherent operational principle of SM in MMC. In other words, the power dissipation is computed in every single switching event by using the polynomial curve fitting model with minimum computational efforts and high accuracy, which are required to manage the large number of SMs. After estimating the value of power dissipation, the thermal condition of every switching element is considered in the case of external disturbance. Then, the arm modeling for high-level MMC and its control scheme is implemented with the electromagnetic transient simulation program. Finally, the case study for applying to the MMC based HVDC system is carried out to select the appropriate insulated-gate bipolar transistor (IGBT) module in a steady-state, as well as to estimate the proper thermal condition of every switching element in a transient state.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.3
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• pp.318-323
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• 2005

In this paper, we propose a systematic method of a fuzzy-model-based controller for continuous-time nonlinear dynamical systems which may contain uncertainties. The continuous-time uncertain TS fuzzy model is first constructed to represent the uncertain nonlinear system. A parallel distributed compensation (PDC) technique is then used to design a fuzzy model based controller for both stabilization and tracking. Finally, the designed continuous-time controller is converted to an equivalent discrete-time controller by using an intelligent digital redesign method. This new design technique provides a systematic and effective framework for integration of the fuzzy model based control theory and the advanced digital redesign technique for nonlinear dynamical systems with uncertainties. Finally, the single link flexible-joint robot arm is used as an illustrative example to show the effectiveness and the feasibility of the developed design method.

• Transactions of the KSME C: Technology and Education
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• v.5 no.2
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• pp.89-95
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• 2017

LCD robot vertical frame lets a arm assembly with glass substrate move up and down, so it must have high stiffness and strength. We applied new manufacturing process by using design optimization process such as topology and size optimization in order to satisfy the request of high stiffness and light weight. The proposed model should be evaluated for endurance strength. Therefore fatigue assessment for weak point of aluminum welding area of vertical frame studied with hot spot stress approach. And the actual stress measuring from test was compared and evaluated with the dynamic stress calculated from multi-body dynamics considering flexible body.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.12
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• pp.1833-1844
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• 2004

A controller is proposed for the robust backstepping control of a class of nonlinear multiple-input multiple-output (MIMO) systems which can be converted to a strict feedback form. The proposed robust backstepping control scheme follows a systematic procedure for the design of control laws and uses time delay estimation (TDE) to estimate the uncertainties such as parameter variations, unknown disturbances, and unmodeled dynamics, etc. The proposed controller can be also applied to nonlinear MIMO systems with unmatched uncertainties. Stability analysis of the closed-loop system which contains the plant and the proposed controller is also studied and hereby a sufficient stability condition for the closed-loop system is proposed. The simulation results show that the control scheme works well with uncertainties and the proposed stability condition is valid. The controller is experimentally verified on a single-link flexible arm to show the effectiveness of the proposed scheme in the complicated systems with uncertainties.

• Journal of the Optical Society of Korea
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• v.15 no.4
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• pp.380-385
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• 2011

Common-path interferometers are widely used for endoscopic optical coherence tomography (OCT) because an arbitrary arm length can be chosen for the endoscopic imaging probe. However, the scheme suffers from the limited range of the sample position distance from the end of the imaging probe because the position between the reference reflector and the sample is limited by the optical path-length difference (OPD) to induce an interference signal. In this study, we developed a novel method for compensating the arbitrary sample position in common-path swept-source OCT by adding an extra Mach-Zehnder interferometer in the post-path of the interfered optical signal. Theoretical analysis and an experimental demonstration of imaging depth tuning for the flexible sample position of an endoscopic OCT image are discussed. After post-tuning of sample position distance, the positioning limitation between the reference reflector and the sample can be solved for various sample positions over a range of 26 mm for the cross-sectional images of a fish eye sample.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.2
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• pp.185-190
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• 2005

A systematic output tracking control design technique for robust control of Takagi-Sugeno (T-S) fuzzy systems with norm bounded uncertainties is developed. The uncertain T-S fuzzy system is first represented as a set of uncertain local linear systems. The tracking problem is then converted into the stabilization problem for a set of uncertain local linear systems thereby leading to a more feasible controller design procedure. A sufficient condition for robust asymptotic output tracking is derived in terms of a set of linear matrix inequalities. A stability condition on the traversing time instances is also established. The output tracking control simulation for a flexible-joint robot-arm model is demonstrated, to convincingly show the effectiveness of the proposed system modeling and controller design.

• International Journal of Control, Automation, and Systems
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• v.1 no.4
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• pp.474-483
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• 2003

Belt drives provide freedom to position the motor relative to the load and this phenomenon enables reduction of the robot arm inertia. It also facilitates quick response when employed in robotics. Unfortunately, the flexible dynamics deteriorates the positioning accuracy. Therefore, there exists a trade-off between the simplicity of the control strategy to reject time varying disturbance caused by flexibility of the belt and precision in performance. Resonance of the system further leads to vibrations and poor accuracy in positioning. In this paper, accurate positioning of a belt driven mechanism using a feed-forward compensator under maximum acceleration and velocity constraints is proposed. The proposed method plans the desired trajectory and modifies it to compensate delay dynamics and vibration. Being an offline method, the proposed method could be easily and effectively adopted to the existing systems without any modification of the hardware setup. The effectiveness of the proposed method was proven by experiments carried out with an actual belt driven system. The accuracy of the simulation study based on numerical methods was also verified with the analytical solutions derived.

• Proceedings of the Korean Reliability Society Conference
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• 2011.06a
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• pp.107-113
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• 2011

The windshield wiper consists of 4 parts: a blade, an arm, a linkage and a motor. The wiper blade makes contact with the windshield and is designed to be operated normally at an angle of 30~50 degrees to the front glass. If the contact pressure between the wiper blade and windshield surface is too high, noise and wear of the rubber will result. On the other hand, if the contact pressure is too low, the performance will do badly, since foreign substances such as dust and stains will not be removed well. The pressure and friction of the wiper blade has a great influence on its effectiveness in cleaning the front window. This is due to the contact of the rubber with the window. This paper presents the dynamic analysis method to estimate the performance of the flat type blade of the wiper system. The blade has a nonlinear characteristic since the rubber is an incompressible hyper-elastic and visco-elastic material. Thus, Structural dynamic analysis using a complex contact model for the blade is performed to find the characteristics of the blade. The flexible multi-body dynamic model is verified by the comparison between test and analysis result. Also, the optimization using the central composite design table is performed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.9
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• pp.2812-2818
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• 1996

A cantilever beam with a mass and a spring at the end can be use to model a miniature flexible arm. It is necessary to know the natural frequencies and mode shapes to discuss its free vibration, especially when modal analysis is employed. A beam is clamped-free. In this paper we look at the lateral vibration of beams that have step changes in the properties of their cross sections. The frequency equation is derived by Bernoulli-Euler formulation and is sloved by the separation of variable. The parameters of the beam, 'mass and spring stiffness' are defined as nondimensionalized parameters for wide application of the results. According to the change of eigenvalues and mode shape are presented for this beam. The results presented are the eigenvalues and the natural frequencies for the first three modes of vibration. Results show that the parameters have a significant effect on the natural frequency.