• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.10a
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• pp.233-238
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• 2001

In the design and operation of robot arms with flexible links, the equations of motion are required to exactly model the interaction between rigid motion and elastic motion and to be formulated efficiently. Thus, the flexible link is represented on the basis of the D-H rigid link represented to measure the elastic deformation. The equations of motion of robot arms, which are configured by the generalized coordinates of elastic and rigid degrees of freedom, are formulated by using F.E.M to model complex shaped links systematically and by eleminating elastic mode of higher order that does not largely affect option to reduce the number of elastic degree of freedom. Finally presented is the result of simulation to flexible robotic arm whose joints are controlled by direct or PD control.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.3
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• pp.68-75
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• 2000

The flexibility of a manipulator inevitably yields vibration at the end effector. In this work, position and vibration control for a flexible robot arm was studied using a separate voice coil type actuator to raise the accuracy and speed of end tip. A flexible robot arm with a tip mass is modeled as an Euler-Bernoulli beam. An $H_$\infty$$ controller is adapted to get a robust control against unmodeled higher-order mode vibration, output sensor noise, and etc. Simulations and experiments show that the modeling of the system is acceptable and robust vibration control is also achieved.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.05a
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• pp.1181-1184
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• 2007

The differential equations governing free, in-plane vibrations of linearly elastic circular arches with rotationally flexible supports, including the effects of rotatory inertia, shear deformation and axial deformation, are solved numerically using the corresponding boundary conditions. The lowest four natural frequencies and the corresponding mode shapes are obtained over a range of non-dimensional system parameters: the subtended angle, the slenderness ratio, and the rotational spring stiffness.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.11
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• pp.494-502
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• 2002

In this paper, a suspension control of a magnetic levitation(MagLev) system with flexible rail is designed and presented. The numerical modelling for the electromagnetic system to be controlled as a target plant is carried out. And dome kinds of the hardware system including CPU board, AD board, DA board, sensors, and switching power amplifier are described. Using the derived model, the stabilizing controllers, such as PID and $H_{\infty}$ controller, for the MagLev system are designed using the MATLAB toolbox. The designed controllers are validated by some experimental results as well as numerical simulations. So it is shown that $H_{\infty}$ controller can give the better performance for the plant with flexible modes than PID controller.

• International Journal of Precision Engineering and Manufacturing
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• v.2 no.4
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• pp.30-39
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• 2001

This paper investigates vibrational motion of a flexible beam fixed on a moving cart and carrying a moving mass. The equations of motion of the beam-mass-cart system are analysed through the unconstrained modal analysis. The exact normal mode solution used in modal analysis correspond to the eigenfrequencies for each position of the moving mass and to the ratios of the weight of the beam-mass-car system. Time solutions of normal modes are also transformed properly according to the position of the moving mass. Numerical simulations are carried out to obtain open-loop responses of the system in tracking pre-designed paths of the moving mass. The simulation results show that the model predicts the dynamic behavior of the beam-mass-cart system well. Experiments are carried out to show the validity of the proposed analytical method.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2005.11a
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• pp.291-292
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• 2005

Comparing with conventional STN-LCD, a good electro-optical characteristics were observed on the STN-LCDs of low cell gap using liquid crystals that have large refractive indices. Especially, A stable voltage-transmittance(V-T) curve of the plastic STN-LCD was measured and fast response time characteristics were obtained. We suggested that fast response STN-LCD is promising technique in the flexible display of small size because it has lots of advantages such as low cost, simple manufacture process comparing with other modes.

• Transactions of the Korean Society of Automotive Engineers
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• v.5 no.1
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• pp.101-109
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• 1997

A tool for the dynamic simulation and design technique of the excavator plays an important role in the prediction of dynamic behavior of the excavator in the initial design stage. In this paper, a flexible multibody dynamic analysis model including track of the crawler type excavator is developed using DADS and ANSYS. Through the driving simulation of the excavator travelling over rough road track, frequency characteristics of the upper frame and cabin are obtained, and the reaction forces acting on the track rollers are also presented for the fatigue life estimation. The effect of boom vibration modes on the joint reaction forces and accelerations is presented from the swing simulation.

• Journal of Power Electronics
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• v.6 no.1
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• pp.8-17
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• 2006

In this paper, we propose a fault-tolerant control system for the position control and vibration suppression of a flexible arm robot. The proposed control system has a strain gauge sensor signal observer based on a reaction force observer and detects a fault by monitoring an estimated error. In order to improve the estimation accuracy, the plant parameters included in the sensor signal observer are updated by using the strain gauge sensor signal in normal time through the adaptive law. After fault detection, the proposed control system exchanges the faulty sensor signal for the estimated one and switches to a fault mode controller so as to maintain the stability and the control performance. We confirmed the effectiveness of the proposed control system through several experiments.

• 한국정보디스플레이학회:학술대회논문집
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• 2007.08a
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• pp.710-712
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• 2007

The effects of stress on the IZO/PC substrate and the electro-optical properties of a flexible LCD with microstructure in bending were investigated. It showed that the IZO/PC substrate and the periodic cross spacers are good enough to be employed in the application of the ECB or polarization rotation LC mode.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.29B no.3
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• pp.25-34
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• 1992

This paper proposes a Self-Tuning control algorithm for tracking the reference trajectory by measuring the end-point of robot manipulator whose links are light and flexible, and the performance of it is tested through the computer simulation. As an object of system, a flexible robot manipulator with two-links is considered and an assumed mode shape method including gravity force is adopted to analyze the vibration modes for each links and dynamics equation is derived. The controller is designed as a combined form which consists of dynamic feedforward compensator and self-tuning feedback controller. The one supplies nominal torque and the other supplies variational torque to manipulator. Apart from the, K-incremental predictor is also proposed in order to eliminate the offset error. and it shows that the result of simulation adapted well to load change and rapid velocity.