• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 추계학술대회 논문집
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• pp.177-178
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• 2009

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2004년도 학술대회지
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• pp.204-209
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• 2004

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The Manipulability is a functionality of manipulator system in a given configuration and under the limits of joint ability with respect to the tasks required to bt performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method are presented. The dynamic equation of motion of underwater manipulator is derived from the Lagrange - Euler equation considering with the hydraulic forces caused by added mass, buoyancy and hydraulic drag. The hydraulic drag term in the equation: is established as analytical form using Denavit - Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based on Manipulability Ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torque in joint space while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1993년도 Proceedings of International Conference for Agricultural Machinery and Process Engineering
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• pp.830-839
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• 1993

Agricultural hydraulic robot which was reported in Part Ⅰ had been developed . The robot satisfied performance to intend before development. For actual use, however, it have been necessary to reduce manipulator weigh and to simplify construction of hydraulic control valve. Then, working stress of manipulator link and pressure fluctuation of hydraulic circuit were measured. Step and frequency response tests were done subject to amplitude of reference voltage of 0.1 , 0.3 , 0.5 and 1.0v. and delivery pressure of 3.5 and 5.0MPa. Working stress were about 25% comparing with fatigue strength, Thus, mass of manipulator might be reduce to 30 %. In hydraulic control system, virtual natural frequency of 6.5Hz is produced from the combination of drain passage area shortage of servovalve. Further , because of passage area shortage , working pressure at both side of cylinder was acted on. This phenomenon prevent utilize effectively engine power. Then, control valve for new model was p oposed.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.353-356
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• 1997

Hydraulically driven manipulators are superior to electrically driven ones in the power density and electrical insulation. But an electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and this parameter fluctuations are greater than those of electrically driven manipulator. So this is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous field task such as the maintenance task of high voltage active electric line or the automatic excavation task by hydraulic excavator. In this report, we propose robust force control algorithm, which can be applied to there real field task such as the construction field, nuclear plant and so on. Proposed force controller has the same structure as that of disturbance observe for position control. The difference between force and position disturbance observer is that the input and output of disturbance observer are forces in the case force disturbance observer and the plant varies much compared to the case of position control. In the design of force disturbance observer, generalized plant is derived and the stabilized filter is designed by H infinity control theory to ensure the robuts t stability even though the stiffness of environment changes from sponge to steel, and the contact surface also changes from flat to round shape. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved under various environment conditions.

• 산업기술연구
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• 제16권
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• pp.113-121
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• 1996

In the early developmental stages of robotics,hydraulics played an important role. As the power-to-weight ratio of electric motors increased, they eventually replaced hydraulic actuators in robot manipulators. Recently, however, task requirements have dictated that the manipulator payload capacity increase to accomodate greater payload, greater length, greater reaction forces, and hydraulic actusators are being studied as an effective form of robot actuation again. For efficient control of hydraulic actuators, the knowledge of its dynamic equation is essential. However, the dynamic equation of hydraulic actuators are nonlinear, and the dynamic coefficients are time varying. In this paper, an estimation algorithm of the dynamic coefficients of the hydraulic piston dynamics are formulated. Simulation results are presented to show the possibility of the parameter estimation.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.711-716
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• 2003

This paper presents the inverse dynamic analysis of the hydraulic excavator manipulator based on the experimental data. A three dimensional rigid multi-body model of the hydraulic excavator manipulator was built up. Inverse dynamic analysis for typical operation mode was carried out by the ADAMS program. In order to verify the analysis results with the measured, the hydraulic pressure and displacement of the cylinders were measured and the dynamic analysis was carried out using experimental data. From the results of the cylinder driving forces, good agreements are obtained between the analysis and the measurement.

• 한국산업융합학회 논문집
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• 제25권3호
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• pp.477-491
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• 2022

This study proposed the performance analysis and hydraulic control system design of forklift structure manipulator with 5 joints for untact working in lilited environment. The performance analysis of the control system analyzed the control response to load and pressure fluctuations. The reliability of proposed control system was verified by simulation test under the various condition.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2004년도 추계학술대회 논문집
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• pp.468-473
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• 2004

This paper deal with basic concept of Hardware In the Loop System(HILS) for hydraulic excavator. Hydraulic excavator has many nonlinearities because of P-Q diagram, dead zone and saturation of valve, single acting cylinder, heavy manipulator. So, actual test is needed when new component or control algorithm is developed but many restrictions exist. Hydraulic circuit of excavator is too complex to model mathematically but dynamic equation of manipulator has made good progress in previous studies. Basic concept of HILS and AMESim model of hydraulic components is contained in this paper.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 춘계학술대회 논문집
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• pp.557-560
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• 2000

The Purpose of this study is analysis of kinematic for a modified manipulator and experimental test to certify auto-balancing operation. The test is carried out as follows. First, we solve the inverse kinematics and then do a closed loop control. Second we confirm translation displacement and rotation angle of a manipulator.

• 한국정밀공학회지
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• 제15권12호
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• pp.162-168
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• 1998

The traditional robot manipulators are actuated by continuous range of motion actuators such as motors or hydraulic cylinders. However, there are many applications of mechanisms and robotic manipulators where only a finite number of locations need to be reached, and the robot's trajectory is not important as long as it is bounded. Binary manipulator uses actuators which have only two stable states. As a result, binary manipulators have a finite number of states. The number of states of a binary manipulator grows exponentially with the number of actuators. This kind of robot manipulator has some advantage compared to a traditional one. Feedback control is not required, task repeatability can be very high, and finite state actuators are generally inexpensive. And this kind of robot manipulator has a fault tolerant mechanism because of kinematic redundancy. This paper develops algorithms for kinematics and workspace analysis of a binary manipulator.