• 대한기계학회논문집
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• 제19권2호
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• pp.363-373
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• 1995

In this study, a FE model tuning method using experimental modal data was suggested after examining all the published conventional methods. The idea of this method is introducing scale factors to maintain both the structural connectivity and the consistency in the corrected stiffness matrix which makes it always possible to interpret the stiffness elements with the corresponding physical configuration of the targeting structure. The scale factors are determined to minimize the objective function of eigen-properties. The proposed method was tested to determine the joint stiffness of a T shaped beam. The test results were also compared with the tuned stiffness obtained from a probed commercial package (SYSTUNE) and found that this method is very accurate and compatible.

• 한국공작기계학회논문집
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• 제16권5호
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• pp.1-6
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• 2007

This paper presents a new experimental Servo-Parameter tuning technique for a 6-axes articulated robot manipulator, especially considering robot's dynamics. First of all, investigation for proportional gain of velocity control loop by using a Dynamic Signal Analyzer(DSA) is performed. Using the FUNCTION characteristic of DSA based on the Bode plot, the Bode plot of open loop transfer function can be obtained. In turn, the integral gain of a servo controller can be found out by using the integration time constant extracted from the Bode plot of open loop transfer function. In the meanwhile, the positional gain of the servo controller can be obtained by using the Bode plot of the closed loop transfer function. Using the experimental gain tuning technique proposed in this paper, the testing linear motion of DR6-II robot has been shown to be more accurate rather than the motion with a conventional(empirical) gain tuning technique in Doosan Mecatec Co., Ltd., by improving the dynamic response of the robot as well as synchronizing each joint velocity according to the positional command of an end-effector.

• ETRI Journal
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• 제45권1호
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• pp.163-170
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• 2023

We report an electroabsorption modulator (EAM)-integrated distributed Bragg reflector laser diode (DBR-LD) capable of supporting a high data rate and a wide wavelength tuning. The DBR-LD contains two tuning elements, plasma and heater tunings, both of which are implemented in the DBR section, which have blue-shift and red-shift in the Bragg wavelength through a current injection, respectively. The light created from the DBR-LD is intensity-modulated through the EAM voltage, which is integrated monolithically with the DBRLD using a butt-joint coupling method. The fabricated chip shows a threshold current of approximately 8 mA, tuning range of greater than 30 nm, and static extinction ratio of higher than 20 dB while maintaining a side mode suppression ratio of greater than 40 dB under a window of 1550 nm. To evaluate its modulation properties, the chip was bonded onto a mount including a radiofrequency line and a load resistor showing clear eye openings at data rates of 25 Gb/s nonreturn-to-zero and 50 Gb/s pulse amplitude modulation 4-level, respectively.

• 한국군사과학기술학회지
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• 제10권3호
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• pp.161-172
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• 2007

This article suggests an inverse kinematics analysis of a two degree of freedom spatial parallel motion simulator and design methodology of the robust PID controller. The parallel motion simulator consists of a fixed base and a moving frame connected by two serial chains, with each serial chain containing one revolute joint and two passive spherical joint. First, an inverse kinematics problems are solved in order to find the joint variable necessary to bring the end effector to track the desired trajectory. Second, an inverse optimal PID controller is proposed to track trajectories in the face of uncertainty. And the $H_{\infty}$ optimality and robust stability of the closed-loop system is acquired through the PID controller. Finally numerical results show the effectiveness of the PID controller that is designed by square/linear tuning laws.

• 한국정밀공학회지
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• 제28권3호
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• pp.265-274
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• 2011

This paper presents current state of the prediction simulator of structural characteristics of machinery equipment accuracy. Developed accuracy prediction simulator proceeds and estimates the structural analysis between the designer and simulator through the internet for convenience of designer. 3D CAD model which is input to the accuracy prediction simulator would simplified by the process of removing the small hole, fillet and chamfer. And the structural surface joints would be presented as the spring elements and damping elements for the structural analysis. The structural analysis of machinery equipment joints, containing rotary motion unit, linear motion unit, mounting device and bolted joint, are presented using Finite Element Method and their experiment. Finally, a general method is presented to tune the static stiffness at a rotation joint considering the whole machinery equipment system by interactive use of Finite Element Method and static load experiment.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.523-525
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• 2004

Over the last few years, the control of bipedal robot has been considered a promising research field in the community of robotics. But the problems we encounter make the control of a bipedal robot a hard task. The complicated link connection of the bipedal robot makes it impossible to achieve its exact model. In addition, the joint velocity is needed to accomplish good control performance. In this paper a control method using ANFIS as an system approximator is purposed. First a model biped robot of a biped robot with switching leg influence is presented. Unlike classical method, ANFIS approximation error estimator is inserted in the system for tuning the ANFIS. In the entire system, only ANFIS is used to approximate the uncertain system. ANFIS tuning rule is given combining the observation error, control error and ANFIS approximation error. But this needs velocity information which is not available. So a practical method is newly presented. Finally, computer simulation results is presented to show this control method has good position tracking performance and robustness without need for leg switching acknowledgement.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.1322-1326
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• 1990

In this paper, compliant motion control of a manipualator in manipulator is proposed by using the self-tuning adaptive controller. Compliant motion is needed in order to applicated to complicated and accurate fields such as assembly operation in which several parts are matched. For a control method of compliant motion hybrid control is used so forces and position control are proposed selectively through a closed feedback loop. By contacting with environment, the uncertainties higher. Self-tuning controller which adapts to variable dynamic response is applied to compliant motion control in order to satisfy the desired operation. The applicability of the suggested algorithm was confirmed by simulation of the contour tracking task of four joint manipulator.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1990년도 하계학술대회 논문집
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• pp.514-517
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• 1990

In this paper, compliant motion control of a manipualator in manipulator is proposed by using the self-tuning adaptive controller. Compliant motion is needed in order to applicated to complicated and accurate fields such as assembly operation in which several parts are matched. For a control method of compliant motion hybrid control is used so forces and position control are proposed selectively through a closed feedback loop. By contacting with environment, the uncertainties higher. Self-tuning controller which adapts to variable dynamic response is applied to compliant motion control in order to satisfy the desired operation. The applicability of the suggested algorithm was confined by simulation of the contour tracking task of four joint manipulator.

• 대한전기학회논문지
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• 제38권3호
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• pp.247-255
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• 1989

본 논문에서는 작업좌표에서 로보트 매니퓰레이터에 대해 적분 동작을 갖는 오차 모델과 극점배치 자기동조제어기를 제안하였다. 이 제어기는 로보트 동력학의 자세한 표현없이 부하 외란에 의한 자류편차를 제거할 수 있다. 오차 모델 배개변수는 반복 최소 자승 알고리즘에 의해 추정되고, 제어기 매개 변수는 극점 배치 방법에 의해 결정된다. 작업좌표에서 제안된 제어 계통의 성능을 평가하기 위하여 부하를 갖는 3개 관절 2개 링크의 공간 로보트 매니퓰레이터에 의해 컴퓨터 시뮬레이션을 하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1988년도 전기.전자공학 학술대회 논문집
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• pp.273-277
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• 1988

This paper is to show design of robot manipulator which has 3-link using DC Motor and realization of control algorithm with IBM - XT Micro-computer connected. Gentral algorithm is applicated by position and pass control using point-to-point method. At first, this paper computes required angles on each joint in order to search desired position or path, and uses a voltage control with feedback from output of encoder and tachometer in real time. The application of control algorithm on position, velocity and force for each joint of manipulator by using self-tuning control is left for next study.