• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.648-653
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• 1993

This paper presents an nonlinear observer scheme for flexible joint robot manipulators. This nonlinear observer scheme is based on the sliding mode method. Sliding controllers have recently been shown to feature excellent robustness and performance properties for specific classes of nonlinear tracking problems. Dynamic equations of flexible joint robot manipulators are derived from the Euler-Lagrange equations by forming the corresponding Lagrangian. Simulation results are presented to show the validness of the proposed nonlinear observer scheme.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.559-564
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• 1993

Nonlinear equation of motion of the flexible manipulator are derived by the Lagrangian method in symbolic form to better understand the structure of the dynamic model. The resulting equations of motion have a structure which is useful to reduce the number of terms calculated, to check correctness, or to extend the model to high order. A manipulator with a flexible 4 bar link mechanism is a constrained system whose equations are sensitive to numerical integration error. This constrained system is solved using the null space matrix of the constraint Jacobian matrix. Singular value decomposition is a stable algorithm to find the null space matrix.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.547-551
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• 1996

In this paper, robust vibration control of a one-link flexible robot arm based on variable structure system is discussed. We derive dynamic equations of it using a Lagrangian assumed modes method based on Bernoulli-Euler Beam theory. The optimal sliding surface is designed and the problem of chattering is also solved by the adoption of a continuous control law within a small neighborhood of the switching hyperplane.

• 한국정보디스플레이학회:학술대회논문집
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• 2005.07b
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• pp.1491-1494
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• 2005

We have studied ink-jet printing method for patterning conductive line on flexible plastic substrates. Synthesized silver nano-particles of ${\sim}$20nm were used for the conductive ink and the printed patterns exhibit a smooth line whose linewidth is below 100 ${\mu}m$. This ink-jet printing technique can be applied to flexible displays and electronics.

• Transactions on Control, Automation and Systems Engineering
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• v.1 no.1
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• pp.32-43
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• 1999

Adaptive robust control scheme is introduced for flexible joint manipulator with nonlinearities and uncertainties. The system does not satisfy the matching condition due to insufficient actuators for each node. The control only relies on the assumption that the bound of uncertainty exists. Thus, the bounded value does not need to be known a prior. The control utilizes the update law by estimating the bound of the uncertainties. The control scheme uses the backstepping method and constructs a state transformation. Also, stability analysis is done for both transformed system and original system.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.360-363
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• 1988

This paper presents a development of flexible bowl feeder without mechanical tooling for each specific part to be fed. This flexible bowl feeder is capable of recognising different orientations of components using optical fiber sensors and can be adjusted to feed different components by way of a simple programming method. The system would be suitable for feeding and sorting small components prior to auto,ated small batch assembly.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.260-265
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• 1992

This paper presents an adaptive control scheme for flexible joint robot manipulators. This control scheme is based on the Lyapunov direct method with the arm energy-based Lyapunov function. The proposed adaptive control scheme uses only the position and velocity feedback of link and motor shaft. The adaptive control system of flexible joint robots is asymptotically stable regardless of the joint flexibility value. Therefore, the assumption of weak joint ealsticity is not needed. Also, joint flexibility value is unknown. Simulation results are presented to show the feasibility of the proposed adaptive control scheme.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.18-23
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• 1990

In this paper, the dynamic modeling and a tip-position controller of a single-link flexible manipulator are developed. To design the controller of a flexible manipulator, at first, it is required to obtain the accurate dynamic model of manipulator describing both rigid motion and flexible vibration. For this purpose, FEM(Finite Element Method) and Lagrange approach are utilized to obtain the dynamic model. After obtaining the dynamic model of a single-link manipulator, a controller which computes the input torque to perform the desired trajectory is developed using neural network.

• Proceedings of the Korean Society Of Semiconductor Equipment Technology
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• 2006.05a
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• pp.164-167
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• 2006

In this paper, we prepared Al doped ZnO thin films by using facing targets sputtering method. Al doped ZnO thin film was deposited with different working pressure on flexible substrate. We prepared Al doped ZnO thin film at room temperature, because the flexible substrate has weak thermal resistance. From the results, we could obtain thin film with a resistivity of $8.4{\times}10^{-4}{\Omega}cm$, an average transmittance of over 80% and a film thickness of 200nm.

• International Journal of Ocean Engineering and Technology Speciallssue:Selected Papers
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• v.5 no.1
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• pp.14-21
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• 2002

In the present paper, the hydrodynamic properties of a Rahmen-type, flexible, porous breakwater interacting with obliquely or normal- incident small amplitude waves are numerically investigated. This system is composed of dual vertical porous membranes, hinged at the side edges of a submerged horizontal membrane. The dual vertical membranes are extended downward and hinged at seabed. The effects of permeability, Rahmen-type membrane breakwater geometry, pre-tensions on membranes, relative dimensionless wave number, and incident wave headings are thoroughly examined.