• Proceedings of the Korean Society of Precision Engineering Conference
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• 2007.06a
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• pp.355-356
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• 2007

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.53-54
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• 2011

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2008.11a
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• pp.195-200
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• 2008

This paper presents motion control of the Inchworm composed of the piezoelectric actuators and mechanical elements. Piezoelectric actuator shows nonlinear response characteristics including hysteresis due to the ferroelectric characteristics. This paper proposes feedback control scheme to improve the ability of tracking response to complex input signal and suppress the phenomenon of hysteresis using the sliding mode control technique with the integrator. The sliding mode control system has the limit to minimize both the settle time and overshoot. For making up this limit, this paper also suggests input shaping technique suitable to the inchworm control system.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.19 no.2
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• pp.169-175
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• 2009

This paper presents motion control of the Inchworm composed of the piezoelectric actuators and mechanical elements. Piezoelectric actuator shows nonlinear response characteristics including hysteresis due to the ferroelectric characteristics. This paper proposes feedback control scheme to improve the ability of tracking response to complex input signal and suppress the phenomenon of hysteresis using the sliding mode control technique with the integrator. The sliding mode control system has the limit to minimize both the settle time and overshoot. For making up this limit, this paper also suggests input shaping technique suitable to the inchworm control system.

• Smart Structures and Systems
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• v.14 no.3
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• pp.347-365
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• 2014

The main objective of this paper is to develop an innovative methodology for the vibration suppression control of the multiple degrees-of-freedom (MDOF) flexible structure. The proposed structure represented in this research as a clamped-free-free-free truss type plate is rotated by motors. The controller has two loops for tracking and vibration suppression. In addition to stabilizing the actual system, the proposed feedback control is based on a genetic algorithm (GA) to seek the primary optimal control gain for tracking and stabilization purposes. Moreover, input shaping is introduced for the control scheme that limits motion-induced elastic vibration by shaping the reference command. Experimental results are presented, demonstrating that, in the control loop, roll and yaw angles track control and elastic mode stabilization. It was also demonstrated that combining the input shaper with the proportional-integral-derivative (PID) feedback method has been shown to yield improved performance in controlling the flexible structure system. The broad range of problems discussed in this research is valuable in civil, mechanical, and aerospace engineering for flexible structures with MDOM motion.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.589-594
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• 2007

In this paper, the optimal command input is considered in order to minimize the residual vibrations of a flexible cantilever beam when the beam simply changes its position by translation or rotation. Although a cantilever beam has many modes of vibration, it is shown that the consideration of the first mode is sufficient in this case. Thus, the problem becomes a singledegree-of-freedom system subjected to a ground excitation. Two simple methods are proposed to find the optimal command input based on the Shock Response Spectrum (SRS). The first method is the simplest and can be applied to lightly damped cases, and the second method is applicable to more general problems. The second method gives almost the same results as the input shaping method. However the proposed method gives a easier and clearer control strategy.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.11
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• pp.3066-3074
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• 1994

This paper addresses the residual vibration problem of robots due to joint flexibility excited by fast accelerations, which has not been easily solved with conventional closed loop controllers. In this paper, an open loop input shaping technique, proposed by singer, has been applied to a 3 DOF robot with joint flexibility. In conjunction to the technique, a closed loop controller based on time-delay controller was also used. The results of simulations and experiments showed that the technique is quite effective for suppressing the residual vibration.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1060-1063
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• 1996

Remote Cask Grappling and Lid Unbolting Device (RCGLUD) is developed as a dedicated device capable of performing complete procedure of handling nuclear spent fuel transport cask. Since RCGLUD is suspended to an overhead crane, its body should undergo prolonged vibration upon actuation in rotational direction and it becomes difficult to achieve precise grappling of the cask. Therefore, this paper presents an adaptation of input shaping technique to effectively suppress the rotational vibration of RCGLUD and achieve precise positioning in rotational direction. This technique has a practical merit in that it requires only the information on the system natural frequency and the damping ratio. Its performance is verified by both simulation and experimental studies, and revealed that the method is also insensitive to modeling error.

• The Journal of Korea Robotics Society
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• v.4 no.3
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• pp.250-256
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• 2009

Suppressing residual vibrations of flexible materials cheaply is an important issue to increase productivity of automated factory using wafer or glass handling robots. In this paper, we present Linux/RTAI-based implementation of input shaping control for reducing residual vibrations of a mechanical system. Experimental results show that residual vibrations of the mechanical system are reduced up to 82% at a point-to-point linear motion.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.05a
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• pp.219-223
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• 2006

This paper presents a gantry type 3-axes positioning system, which is useful to test control algorithms for coordinate measuring machines and industrial cranes. The dynamic characteristics of the system have been investigated through a series of finite element analysis and experiments. In order to minimize the residual vibration during movement, this paper implements input shaping algorithms for the system with the information from the dynamic analysis. The results show that the dynamic performance of the system can be significantly improved by the dynamic analysis and implementation of input shaping