• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.912-915
• /
• 1996

The computed-torque method (CTM) shows good trajectory tracking performance in controlling robot manipulator if there is no disturbance or modelling errors. But with the increase of a payload or the disturbance of a manipulator, the tracking errors become large. So there have been many researches to reduce the tracking error. In this paper, we propose a new control algorithm based on the CTM that decreases a tracking error by generating new reference trajectory to the controller. In this algorithm we used the concept of sliding mode theory and fuzzy system to reduce chattering in control input. For the numerical simulation, we used a 2-link robot manipulator. To simulate the disturbance due to a modelling uncertainty, we added errors to each elements of the inertia matrix and the nonlinear terms and assumed a payload to the end-effector. In this simulation, proposed method showed better trajectory tracking performance compared with the CTM.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.17 no.11
• /
• pp.1119-1126
• /
• 2007

In this paper, the dynamic stability of a cracked cantilever pipe conveying fluid with tip mass is investigated. The pipe is modelled by the Euler-Bernoulli beam theory in which rotatory inertia and shear deformation effects are ignored. The equation of motion is derived by the energy expressions using extended Hamilton's Principle. The crack section is represented by a local flexibility matrix connecting two undamaged pipe segments. The influence of the crack severity, the position of crack, the mass ratio, and a tip mass on the stability of a cantilever pipe conveying fluid are studied by the numerical method. Besides, the critical flow velocity and the stability maps of the pipe system as a function of mass ratios($\beta$) for the changing each parameter are obtained.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2004.05a
• /
• pp.814-819
• /
• 2004

In this paper, a modeling method for the vibration analysis of rotating structures employing multi-reference frames is presented. The geometric stiffening effect that results from centrifugal inertia force is considered. In most previous studies single reference frame has been employed for the analysis. In the present study, a modeling method employing multi-reference frames is presented, and the effects of employing multi-reference frames on the analysis accuracy are investigated through solving numerical examples.

• Journal of KSNVE
• /
• v.9 no.3
• /
• pp.525-534
• /
• 1999

The present paper proposes a generalized modal analysis procedure for non-uniform, distributed-parameter rotor-bearing systems. An exact element matrix is derived for a Timoshenko shaft model which contains rotary inertia, shear deformation, gyroscopic effect and internal damping. Complex coordinates system is adopted for the convenience in formulation. A generalized orthogonality condition is provided to make the modal decomposition possible. The generalized modal analysis by using a modal decomposition delivers exact and closed form solutions both for frequency and time responses. Two numerical examples are presented for illustrating the proposed method. The numerical study proves that the proposed method is very efficient and useful for the analysis of distributed-parameter rotor-bearing systems.

• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.8
• /
• pp.108-114
• /
• 1997

A simple and efficient method is presented for the dynamics of interconnected flexible beams having large rigid body rotations. A simple mass matrix is obtained by interpolating the displacements in the global inertia frame, and the elastic force is also simply computed by using linear finite element technique with the moving frame attached to the beam. For the beams connected by revolute joints, kinematic constraints and relative rotations between the beans are not required and the equations of motions are time integrated by a simple ODE technique. Numerical simulations are conducted to demonstrate the accuracy and efficiency of the present technique.

• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10a
• /
• pp.7-12
• /
• 1990

In this paper, we propose a new manipulator control scheme based on the CMAG neural network. The proposed control consists of two components. The feedforward component is an output of trained CMAC neural network and the feedback component is a modified sliding mode control. The CMAC accepts the position, velocity and acceleration of manipulator as input and outputs two values for the controller : One is the nominal torque used for feedforward compensation(M1 network) and the other is the inertia matrix related information used for the feedback component(M2 network). Since the used control algorithm guarantees the robust trajectory tracking in spite of modeling errors, the CMAC mapping errors due to the memory limitation are little worth consideration.

• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10a
• /
• pp.372-376
• /
• 1990

This paper represents a control method of improving the performance of direct drive robot. The direct transfer of torque and rotational speed of direct drive motor to the robot body without reduction gear makes the robot speed fast. However, the variation of inertia matrix and low friction cause the control difficult, and one more effort must be in the reducing the acceleration and deceleration time to reduce the cycle time. To fasten the cycle time and to improve the robustness of robot, one control method is developed, and implemented in the Goldstar DD robot. This method does not need to change the conventional PI type control structure, but one additional compensational control law is required. The control law can be obtained via inverse dynamic model of robot, and inverse model of existing control loop. The effects of this control law are shown in this paper.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.431-431
• /
• 2000

The modeling of 5-bar linkage robot manipulator dynamics by means of a mathematical and neural architecture is presented. Such a model is applicable to the design of a feedforward controller or adjustment of controller parameters. The inverse model consists of two parts: a mathematical part and a compensation part. In the mathematical part, the subsystems of a 5-bar linkage robot manipulator are constructed by applying Kawato's Feedback-Error-Learning method, and trained by given training data. In the compensation part, MLP backpropagation algorithm is used to compensate the unmodeled dynamics. The forward model is realized from the inverse model using the inverse of inertia matrix and the compensation torque is decoupled in the input torque of the forward model. This scheme can use tile mathematical knowledge of the robot manipulator and analogize the robot characteristics. It is shown that the model is reasonable to be used for design and initial gain tuning of a controller.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.14 no.10
• /
• pp.983-989
• /
• 2004

In this paper, a modeling method for the vibration analysis of rotating structures employing multi-reference frames is presented. The geometric stiffening effect that results from centrifugal inertia force is considered. In most previous studies single reference frame has been employed for the analysis. In the present study, a modeling method employing multi-reference frames is presented, and the effects of employing multi-reference frames on the analysis accuracy are investigated through solving numerical examples.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.10 no.5
• /
• pp.611-617
• /
• 1986

In this paper, it is attempted to derive the minimum torque as the optimal value on each joint, which is applied during a PTP-motion in the range of working area of a supposed industrial robot. The rupposed industrial robot consits of 3-R joints prepared on three links, The optimizational analysis is performed by the formulation of a variational calculus process due to Rayleigh-Ritz method. That is, the torques of the inverse dynamic problem on joints in a arbitrary positions are computed by a generalized inertia matrix method.