• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.20-27
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• 2014

In this paper, an exact reshaping method for the motor dynamics of a flexible-joint robot is proposed using an integral manifold approach. Obtaining the exact model for both motor-side and link-side dynamics of a flexible-joint robot is difficult due to its under-actuated nature and complex dynamics. Despite the simple structure of the motor-side dynamics, they are difficult to model accurately for a flexible-joint robot due to motor disturbances, especially when speed reducers such as harmonic drives are installed. An integral manifold feedback control (IMFC) is proposed to reshape the motor dynamics. Based on the integral manifold approach, it is theoretically proved that the IMFC reshapes motor dynamics exactly even with bounded disturbances such as motor friction. The performance of the proposed IMFC is verified experimentally using a single degree-of-freedom flexible-joint robot under gravity conditions.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.11a
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• pp.85-89
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• 2001

Hamiltonian modeling approach has been extensively adopted for rigid body dynamics whereas its usage for deforming flexible continuum dynamics has been limited. A set of Hamilton＇s equations for flexible body motion with finite deformation has been derived and applied for a nonlinear impact problem.

• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.11-19
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• 2014

In this paper, an external torque estimation problem in one-degree-of-freedom (1-DOF) flexible-joint robot equipped with a joint-torque sensor is revisited. Since a sensor torque from the joint-torque sensor is distorted by two dynamics having a spring connection, i.e., motor dynamics and link dynamics of a flexible-joint robot, a model-based estimation, rather than a simple linear spring model, should be required to extract external torques accurately. In this paper, an external torque estimation algorithm for a 1-DOF flexible-joint robot is proposed. This algorithm estimates both an actuating motor torque from the motor dynamics and an external link torque from the link dynamics simultaneously by utilizing the flexible-joint robot model and the Kalman filter estimation based on random-walk model. The basic structure of the proposed algorithm is explained, and the performance is investigated through a custom-designed experimental testbed for a vertical situation under gravity.

• Structural Engineering and Mechanics
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• v.30 no.4
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• pp.427-444
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• 2008

A mathematical model for the nonlinear dynamics of a rotating beam with flexible root attached to a rotating hub with elastic foundation is developed. The model is developed based on the large planar and flexural deformation theory and the potential energy method to account for axial shortening due to bending deformation. In addition the exact nonlinear curvature is used in the system potential energy. The Lagrangian dynamics and the assumed mode method is used to derive the nonlinear coupled equations of motion hub rotation, beam tip deflection and hub horizontal and vertical displacements. The derived nonlinear model is simulated numerically and the results are presented and discussed for the effect of root flexibility, hub stiffness, torque type, torque period and excitation frequency and amplitude on the dynamic behavior of the rotating beam-hub and on its stability.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.8
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• pp.826-832
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• 2007

Fully flexible cell preserves Hamiltonian in structure so that the symplectic time integrator is applicable to the equations of motion. In the direct formulation of fully flexible cell N-Sigma-T ensemble, a generalized leapfrog time integration (GLF) is applicable for fully flexible cell simulation, but the equations of motion by GLF has structure of implicit algorithm. In this paper, the time integration formula is derived for the fully flexible cell molecular dynamics simulation by using the splitting time integration. It separates flexible cell Hamiltonian into terms corresponding to each of Hamiltonian term. Thus the simple and completely explicit recursion formula was obtained. We compare the performance and the result of present splitting time integration with those of the implicit generalized leapfrog time integration.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.3-6
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• 2000

The magnetic bearing system are intrinsically unstable, and need the feedback control of electromagnetic forces with measured displacements. So the controller design plays an important role in constructing high performance magnetic bearing system. In case of magnetic bearing system, the order of identified model is high because of unknown dynamics included in closed loop systems - such as sensor dynamics, actuator dynamics - and non-linearity of magnetic bearings itself. In this paper the identification and robust control of flexible rotor supported by magnetic bearing are discussed. We measure and identify overall system that contains not only flexible rotor model but also magnetic bearing and time delay. The structured and unstructured uncertainties are modeled that cover variations of natural frequencies, uncertainties in sensor and actuator gains and unmodeled dynamics. And desired performances are specified with several weighting function. Using augmented system that includes identified model, uncertainties, and weighting functions, μ-synthesis is applied to flexible rotor supported with magnetic bearing. The flexible rotor was spin up over the first flexible critical speed.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.383-386
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• 1996

In this paper, we propose a design method and control law for plannar type two-link flexible manipulator. In designing flexible links, we use Rayleigh's principle. To control flexible manipulator, input distribution controller is used, which is primarily on the basis of nonlinear variable structure control(VSC). The simulation results are also shown.

• International Journal of Aeronautical and Space Sciences
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• v.18 no.1
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• pp.70-81
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• 2017

Various components of an engine nozzle are modeled as flexible multi-body components that are operated under high temperature and pressure. In this paper, in order to predict complex behavior of an engine nozzle, thermo-fluid-flexible multi-body dynamics coupled analysis framework was developed. Temperature and pressure on the nozzle wall were obtained by the steady-state flow analysis for a two-dimensional nozzle. The pressure and temperature-dependent material properties were delivered to the flexible multi-body dynamics analysis. Then the deflection and strain distribution for a nozzle configuration was obtained. Heat conduction and thermal analyses were done using MSC.NASTRAN. The present framework was validated for a simple nozzle configuration by using a one-way coupled analysis. A two-way coupled analysis was also performed for the simple nozzle with an arbitrary joint clearance, and an asymmetric flow was observed. Finally, the total strain result for a realistic nozzle configuration was obtained using the one-way and two-way coupled analyses.

• Transactions of the KSME C: Technology and Education
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• v.3 no.2
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• pp.107-115
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• 2015

The analysis of multi-flexible-body dynamics (MFBD) has been an important issue in the area of the computational dynamics. This technique has been developed and improved in RecurDyn solver. This paper reviews the formulation which is applied in the RecurDyn solver. Basically, in order to solve the multi-flexible-body dynamics problem, an incremental finite element formulation using a corotational procedure is used. In particular, in order to solve the rigid and flexible bodies together, a constraint equation between a rigid body and a flexible body is applied, in which a virtual body and a flexible body joint are introduced.

• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
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• v.13 no.3
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• pp.237-245
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• 2008

We developed a computational method on coupled dynamics of tracked vehicle on seafloor and long flexible pipe. The tracked vehicle is modeled as rigid-body vehicle, and the linked flexible pipe is discretized according to a lumped-parameter model. The equations of motion of the rigid-body vehicle on the soft seafloor are combined with the governing equations of flexible pipe dynamics. Four Euler parameters method is used to express the orientations of the vehicle and the flexible pipe. In order to solve the nonlinear coupled dynamics of vehicle and flexible pipe an incremental-iterative formulation is implemented. For the time-domain integration $Newmark-\beta$ method is adopted. The total Jacobean matrix has been derived based on the incremental-iterative formulation. The interactions between the dynamics of flexible pipe and the mobility of the tracked vehicle on soft seafloor are investigated through numerical simulations in time domain.