• Journal of Mechanical Science and Technology
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• 제18권3호
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• pp.337-346
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• 2004

The control scheme using fuzzy modeling and Parallel Distributed Compensation (PDC) concept is proposed to provide asymptotic tracking of a reference signal for the flexible joint manipulators with uncertain parameters. From Lyapunov stability analysis and simulation results, the developed control law and adaptive law guarantee the boundedness of all signals in the closed-loop multi-input/multi-output system. In addition, the plant state tracks the state of the reference model asymptotically with time for any bounded reference input signal.

• International Journal of Control, Automation, and Systems
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• 제6권2호
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• pp.223-233
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• 2008

A new output feedback controller design approach for flexible-joint (FJ) robots via the observer dynamic surface design technique is presented. The proposed approach only requires the feedback of position states. We first design an observer to estimate the link and actuator velocity information. Then, the link position tracking controller using the observer dynamic surface design procedure is developed. Therefore, the proposed controller can be simpler than the observer backstepping controller. From the Lyapunov stability analysis, it is shown that all signals in a closed-loop system are uniformly ultimately bounded. Finally, the simulation results of a three-link FJ robot are presented to validate the good position tracking performance of the proposed control system.

• 한국산업융합학회 논문집
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• 제25권2_1호
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• pp.161-168
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• 2022

This study proposed a new approach to impliment a robusut control of comsumer-friendly flexible manipulator with five joint for untact working in filed work-site. The output redefinition approach was used to overcome the non minimum phase characteristic of the system. The new output is defined so that the zero dynamics related to this output are stable. The control strategy is based on an computed torque method which is applicable to a class of time-invariamt phase linear systems whose uncertainties appear in output loop stable. The controller is composed of a stabilizing joint controller and an output redefinition tracking controller. Experimental results are also presented to verify the effectiveness of the proposed control scheme.

• 제어로봇시스템학회논문지
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• 제18권2호
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• pp.103-109
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• 2012

Fish generates large thrust through an oscillating motion with a compliant joint of caudal fin. The compliance of caudal fin affects the thrust generated by the fish. Due to the flexibility of the fish, the fish can generate a travelling wave motion which is known to increase the efficiency of the fish. However, a detailed research on the relationship between the flexible joint and the thrust generation is needed. In this paper, the compliant joint of a caudal fin is implemented in the driving mechanism of a robotic fish. By varying the driving frequency and stiffness of the compliant joint, the relationship between the thrust generation and the stiffness of the flexible joint is investigated. In general, as the frequency increases, the thrust increases. When higher driving frequency is applied, higher stiffness of the flexible joint is needed to maximize the thrust. The bending angles between the compliant joint and the caudal fin are compared with the changes of the thrust in one cycle. This result can be used to design the robotic fish which can be operated at the maximum thrust condition using the appropriate stiffness of the compliant joint.

• 한국구조물진단유지관리공학회 논문집
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• 제5권4호
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• pp.139-146
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• 2001

Res system, with Reinforced Concrete columns and Steel beams, is defined as system in which both steel and concrete materials are efficiently combined to maximize the structural and economic advantages of each material. Tested in this study were 4 exterior beam-to-column joint specimens with variables that influence joint rigidity of RCS structure. The purpose of this study is to compare and analyze the structural behavior of exterior joints through the existing studies and tests, and offer basic data for practical use of RCS structure by studying flexible behavior(semi-rigid effect) of joints according to joint details.

• 마이크로전자및패키징학회지
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• 제29권2호
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• pp.113-119
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• 2022

플렉서블, 웨어러블 디바이스 등을 포함한 차세대 전자 기기의 기계적 신뢰성 향상을 위하여 다양한 유연 접합부에서 높은 수준의 기계적 신뢰성이 요구되고 있다. 기존 고분자 기판 접합을 위한 에폭시 등의 유기 접착소재는 접합부 두께 증가가 필연적이며, 반복 변형, 고온 경화에 의한 열기계적 파손 문제를 수반한다. 따라서 유연 접합을 위해서 접합부 두께를 최소화하고 열 손상을 방지하기 위한 저온 접합 공정 개발이 요구된다. 본 연구에서는 플렉서블 기판의 유연, 강건, 저 열 손상 접합이 가능한 플렉서블 레이저 투과 용접(flexible laser transmission welding, f-LTW)를 개발하였다. 유연 기판 위 탄소나노튜브(carbon nanotube, CNT)를 박막 코팅하여 접합부 두께를 줄였으며, CNT 분산 빔 레이저 가열을 통한 고분자 기판 표면의 국부적 용융 접합 공정이 개발되었다. 짧은 접합 공정 시간과 기판의 열 손상을 최소화하는 레이저 공정 조건을 구축하였으며 고분자 기판과 CNT 접합 형성 메커니즘을 분석하였다. 또한 접합부의 강건성 및 유연성 평가를 위해 인장강도 시험, 박리 시험과 반복 굽힘 시험을 진행하였다.

• 대한기계학회논문집A
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• 제29권2호
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• pp.247-252
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• 2005

This research presents a three-dimensional modeling technique for a flexible sheet. A relative coordinate formulation is used to represent the kinematics of the sheet. The three-dimensional flexible sheet is modeled by multi-rigid bodies interconnected by out-of-plane joints and plate force elements. A parent node is designated as a master body and is connected to the ground by a floating joint to cover the rigid motion of the flexible sheet in space. Since the in-plane deformation of a sheet such as a paper and a film is relatively small, compared to out-of-plane deformation, only the out-of-plane deformation is accounted for in this research. The recursive formulation has been adopted to solve the equations of motion efficiently. An example is presented to show the validity of the proposed method.

• 대한기계학회논문집A
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• 제24권6호
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• pp.1633-1642
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• 2000

Like many other mechanical dynamic systems, flexible manipulator systems experience stiction or sticking friction, which may cause input-dependent instabilities. Manipulator performance can be enha nced by identifying friction but it is hard and expensive to measure friction by direct and precise sensing of contact displacements and forces. This study addresses the problem of identifying flexible manipulator joint friction. A dynamic model of a two-link flexible manipulator based upon finite element and Lagrange's method is constructed. The dynamic model includes the effects of joint compliances and actuator dynamics. Friction is also incorporated in the dynamic model to account for stick-slip at the joints. Next, the friction parameters are to be determined. The identification problem is posed as an optimization problem to be solved using nonlinear programming methods. A genetic algorithm is used to increase the convergence rate and the chances of finding the global optimum. The identified friction parameters are experimentally verified and it is expected that the identification technique is applicable to a system parameter identification problem associated with a wide class of nonlinear systems.

• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.305-311
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• 2005

This research presents a three-dimensional modeling technique for a flexible sheet. A relative coordinate formulation is used to represent the kinematics of the sheet. The three-dimensional flexible sheet is modeled by multi-rigid bodies interconnected by out-of-plane joints and plate force elements. A parent node is designated as a master body and is connected to the ground by a floating joint to cover the rigid motion of the flexible sheet in space. Since the in-plane deformation of a sheet such as a paper and a film is relatively small, compared to out-of-plane deformation, only the out-of-plane deformation is accounted for in this research. The recursive formulation has been adopted to solve the equations of motion efficiently. An example is presented to show the validity of the proposed method.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 추계학술대회논문집
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• pp.573-576
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• 2005

This research presents a three-dimensional modeling technique for a flexible sheet. A relative coordinate formulation is used to represent the kinematics of the sheet. The three-dimensional flexible sheet is modeled by multi-rigid bodies interconnected by out-of-plane joints and plate force elements. A parent node is designated as a master body and is connected to the ground by a floating joint to cover the rigid motion of the flexible sheet in space. Since the in-plane deformation of a sheet such as a paper and a film is relatively small, compared to out-of-plane deformation, only the out-of-plane deformation is accounted for in this research. The recursive formulation has been adopted to solve the equations of motion efficiently. An example is presented to show the validity of the proposed method.