• 전자공학회논문지B
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• 제29B권1호
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• pp.58-66
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• 1992

This paper proposes a neuro-controller for position control of one-link flexible robot arm. Basically the controller consists of a multi-layer neural network and a conventional PD controller. Two controller are parallelly connected. Neural network is traind by the conventional error back propagation learning rules. During learning period, the weights of neural network are adjusted to minimize the position error between the desired hub angle and the actual one. Finally the effectiveness of the proposed approach will be demonstrated by computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.513-518
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• 1993

In this paper, we consider the handling f a flexible object using dual-arm manipulators. We choose both the side arms as rigid, and the objects to be manipulated as flexible. Our purpose is to realize position control for the flexible object while suppressing its vibration. In particular, the problem taken up here is the stability of the control system while manipulating the object. We propose that the traditional approach to investigate the robot system be expanded to include the object's characteristics (thus transferring the stability of the robot system into the full assembly system). We define a handling characteristic while manipulating the object. Finally, the relationship between the handling characteristic and the positional constraint condition in the hold position of the arms is studied while considering the stability of the control system.

• 한국산업융합학회 논문집
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• 제7권2호
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• pp.193-198
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• 2004

This is the dissertation of the study of design characteristics about the practical flexible manufacturing system (PFMS). The basic ideas to analyze the manufacturing system which is the automatically operated is dependant on the various manufacturing procedures in factory. PFMS is the very useful equipment for students and trainee of production lines. This system is composed of hardware and software sub systems i.e. control and test unit and personal computer with software. The PFMS can be developed with design concepts and approved the capability of first article with functional tests. The PFMS module will be very useful for the manufacturing drill system in universities and practical fields. The flexible manufacturing systems have various subsystems appropriated for the final manufacturing products. Therefore the systems have the various kinds of hard wares as well as softwares. We study the software for the practical flexible manufacturing system designed in the Halla University and specially the design concept and using specification of the SCARA (Selective Compliance Assembly Robot Arm) robot which is used for the movement of the product is analyzed and introduced in this dissertation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.496-500
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• 1993

This paper presents an end-point position control of 1-link flexible robot arm by the PID self-tuning fuzzy algorithm. The governing equation is derived by the extended Hamilton's principle and based on the Bernoullie-Euler beam theory. The governing equation is solved by applying the Laplace transform and the numerical inversion method. The arm is mounted on the translational mechanism driven by a ballscrew whose rotation is controlled by dcservomotor. Tip position is controlled by the PID self-tuning fuzzy algorithm so that it follows a desired position. This paper shows the experimental and theoretical results of tip dispalcement, and also shows the good effects reducing the residual vibration of the end-point.

• 대한인간공학회지
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• 제15권1호
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• pp.39-52
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• 1996

This paper measured the range of arm joint motion for Korean 54 males in twenties. The range of the arm joint motion of the subjects was measured directly using Goniometer and protractor. The number of the static and the dynamic anthropometric variables are seven and thirteen, respectively. The anthropometric data are analyzed by basic statistical analysis (four group), correlation analysis and regression analysis using commercial SAS program. The results of analysis are compared with American students anthropometric data by Laubach(1978). Thin subjects have larger movement angle as wrist flexion, wrist abduction, elbow flexion, and elbow wupination and have smaller as wrist adduction and shoulder flexion. Fat subjects have larger movement angle as shoulder flexion and are smaller wrist abduction, elbow flexion, pronation, shoulder extension, shoulder adduction, shoulder abduction, and shoulder medial rotation Korean are more flexible than American in wrist and ranges of elbow flexion and elbow rotation. The shoulder movement is similar to that of American, but shoulder flexion is less flexible.

• 대한기계학회논문집
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• 제16권6호
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• pp.1075-1088
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• 1992

본 연구에서는 두개의 팔을 가지는 실험용 로보트를 모델링 하기위해 사용된 기법들을 제시한다. 로보트는 수직 평면상에서 움직이므로 중력의 영향을 받는다. 그리고 두팔은 모두 탄성을 가진다. 이 로보트는 탄성 멤버들을 가지는 로보트의 여 러 제어기법들을 연구하기위해 만들어졌다. 시스템의 특성들은 아주 유연한 멤버들 을 가지게끔 정해진다.이것은 제어를 위해 쓰이는 전자부품들에 요구되는 밴드폭을 제안하고, 탄성이 크고 빠른 로보트에서 관찰 되어지는 유연한 운동들을 흉내낸다.

• 한국정밀공학회지
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• 제10권3호
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• pp.107-116
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• 1993

In the design and operation of robitic arm with flexible links, the equation of motion are required to exactly model the interaction between rigid body motion and elastic motion and to be formulated efficientlyl. In this paper, the flexible link is represented by applying the D-H rigid link representation method to measure the elestic deformation. And the equations of motion of robotic arm, which are configured by the generalized coordinates of elastic and rigid degrees of freedom, are formulated from the principle of virtual power. Dynamic characteristics due to elastic deformation of each link are obtained by using F. E. M to model complex shaped link acurately and by eliminating elastic modes of higher order that do not largely affect motion to reduce the number of elastic degrees of freedom. Also presented is the result of simulation of flexible robotic arms whose joints are controlled by direct or PD control.

• 융합신호처리학회 학술대회논문집
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• 한국신호처리시스템학회 2000년도 하계종합학술대회논문집
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• pp.133-136
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• 2000

The objective of this paper is to present a method for designing robust positioning control systems of a flexible arm using $H_2/H_{\infty}$ and $\mu$ theory. We begin with a description of the flexible arm based on the model identification method and discuss the derivation of the model uncertainty. The validity of the obtained model is confirmed experimentally Next, a robust controller is designed based on the $H_2/H_{\infty}$ and $\mu$ theory by which we can improve robustness of the entire system. On this occasion, we also propose a general plant formation suitable to $H_2/H_{\infty}$ control. Finally, the effectiveness of the proposed design method is verified through experimentation.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1993년도 춘계학술대회 논문집
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• pp.213-217
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• 1993

This paper presents an end-point of 1-link flexible robot arm with a tip-mass by using self-turning fuzzy algorithm. The arm is mounted on a translational mechanism driven by a ballscrew, whose rotation is controlled by CD servomotor. Tip position is controlled so that it follows a desired position. A feedback signal is composed of both the tip-displacement error and change in error. This paper gives the experimental tip responses according to the variations of tip-mass and beam-length, and also showes the effects of reducing the residual vibrations occuring at the end-point.

• 대한기계학회논문집A
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• 제26권2호
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• pp.267-274
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• 2002

Using a flexible rotating beam test bed, experimental verification of a flexible multibody dynamic simulations for a rotating beam model has been carried out. The test bed consists of a flexible arm, harmonic driver reducer, AC servo motor and DSP board with PC. The mechanical ports of the test bed has been designed using 3D CAD program. For the simulation model, mass and moment of inertia of each part of the flexible rotating beam test bed are also obtained from 3D CAD model. In the flexible multibody dynamic simulations, the substructuring model has been established to capture nonlinear effects of the flexible rotating beam. Through the experimental verification, substructuring model provides better results than those from the linear model in the high speed rotation.