• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 G
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• pp.2983-2985
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• 1999

This paper presents the attitude control of the double inverted pendulum with compliant joint. The biped robot with compliant ankle joint instead of a motor have a good contact between it's sole and ground in the uneven ground. The compliant ankle joint proposed here is composed of springs and mechanical constraint. The lower link is hinged on the plate to free for rotation in the vertical plate. The upper link is connected to the lower link through a DC motor. The DC motor is used to control the posture of the pendulum by adjusting the position of the upper link. The algorithm for controlling a proposed inverted pendulum is nonlinear feedback controller. Simulation with mathematical model are conducted to show the validity of the proposed controller.

• 한국전자통신학회논문지
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• 제15권3호
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• pp.457-464
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• 2020

한국군은 Link-11, Link-16 과 Link-K를 적용한 한국형 전술 데이터링크 체계 JTDLS(: Joint Tactical Data Link System)를 운용하고 있다. Link-11에서 Link-22로의 교체 시점이 도래함에 따라 JTDLS 완성형 사업에서는 기존의 전술 데이터링크 외에 Link-22 등의 전술 데이터링크 처리가 추가될 예정이다. 다양한 전술 데이터링크 메시지 처리를 위해 본 논문에서는 Link-K, Link-16, KVMF 등 다중 전술 데이터링크의 데이터를 처리 할 수 있는 데이터 관리 구조를 제안하고, DLP 측면에서 많은 데이터를 빠르게 처리하는 방안을 찾기 위한 Shared Memory, In-Memory DB, 자체개발 DB를 이용하여 모의시험을 진행하고, 그 결과를 확인해 보고자 한다.

• 대한전기학회논문지:전력기술부문A
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• 제48권9호
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• pp.1147-1153
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• 1999

The attitude control of a double inverted pendulum with a periodical disturbance at link top is dealt in this paper. The proposed system is consisted of the double inverted pendulum and a disturbing link; a triple inverted pendulum with two motors. The lower link is hinged on the plate to free for rotation in the vertical plane. The upper link is connected to the lower link through a DC motor. The DC motor is used to control the posture of the pendulum by adjusting the position of the upper link. The periodical disturbance can be generated by the additional like attached at the end of link 2 through another DC motor, which is the modeling of a posture for a biped supporting with one leg. The motor for the joint simulates the knee joint(or hip joint) and the disturbance for the legs moving in air. The algorithm for controlling the proposed inverted pendulum which is regarded as a virtual double inverted pendulum with a periodic disturbance, is consisted of a state feedback control and a fuzzy logic controller connected in parallel. The fuzzy controller keeps the center of gravity of the biped within the specified range through the nonlinear feedback compensator. The state feedback control takes over the role to maintain a desired posture regardless the disturbance at the link top. Simulations with a mathematical model and experiments are conducted to show the validity of the proposed controller.

• 한국군사과학기술학회지
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• 제13권6호
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• pp.1064-1070
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• 2010

Korea Department of Defense has been developing Link-K, Korean Joint Tactical Datalink, to support their independent joint operations and trying to enlarge the scope of Link-K tactical message delivery to nodes in IP based tactical networks for sharing situation awareness more broadly. A Link-K tactical message size is too small to fit into an IP packet, inefficiently wasting most of the IP packet space of the low bandwidth IP-based tactical networks. This paper proposes a new Link-K tactical message aggregation and delivery method when tactical messages need to be sent to some nodes located at IP-based tactical networks. With numerical analysis and OPNET simulation studies, we prove the effectiveness and efficiency of the proposed method.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.2015-2018
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• 2005

In this paper, we are willing to prepare the reasonable optimization, Combinatorial Optimization and Genetic Algorithm. Thus we define position status of end-effect (or terminative link module) using promised form, (G, M(G), A(G), and so on.). For this preparing step, the reorganizing procedure of Link and Joint Module is necessary, like as enumerating the kinematically identical assembly group of several links and joints. Thus, we draw a G, directed graph in a first step. Because, directed graph contains the path information between adjacent Link Module and Joint Module. From the directed graph,G, we can incite the Incidence Matrix, M(G). The incidence matrix, M(G), contains the contact information of the Link (Joint) Module and the type of Link (Joint). At the end of this paper, we generalize the modular information as a matrix form, A(G). From this matrix, we can make a population of assembly status. That is the finial output of this paper.

• 로봇학회논문지
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• 제9권1호
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• pp.11-19
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• 2014

In this paper, an external torque estimation problem in one-degree-of-freedom (1-DOF) flexible-joint robot equipped with a joint-torque sensor is revisited. Since a sensor torque from the joint-torque sensor is distorted by two dynamics having a spring connection, i.e., motor dynamics and link dynamics of a flexible-joint robot, a model-based estimation, rather than a simple linear spring model, should be required to extract external torques accurately. In this paper, an external torque estimation algorithm for a 1-DOF flexible-joint robot is proposed. This algorithm estimates both an actuating motor torque from the motor dynamics and an external link torque from the link dynamics simultaneously by utilizing the flexible-joint robot model and the Kalman filter estimation based on random-walk model. The basic structure of the proposed algorithm is explained, and the performance is investigated through a custom-designed experimental testbed for a vertical situation under gravity.

• 한국정밀공학회지
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• 제25권6호
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• pp.62-70
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• 2008

An adaptive fuzzy backstepping controller is proposed for the motion control for a single-link flexible-joint robot in the presence of parametric uncertainties. Fuzzy logic system is used to approximate the uncertainties of functions and a backstepping technique is employed to deal with the mismatched problem. A compensation controller is also employed to estimates the bound of approximation error so that the shattering effect of the control effort can be reduced. Thus the asymptotic stability of the closed loop control system can be obtained based on a Lyapunov synthesis approach. Numerical simulation results for a single-link flexible-joint robot are included to show the effectiveness of proposed controller.

• 소음진동
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• 제11권1호
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• pp.125-131
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• 2001

There is a clearance between the parts of a machine due to design tolerance, manufacturing error, wear, looseness, or misalignment. If the clearance is large, the vibration and noise of the machine is generally large. Therefore, the analysis on the nitration and noise of a machine can tell the clearance of the machine, which reveals the condition of the machine, i.e., the existence of faults and the safety of the machine. The investigation of this kind of research should be on the basis of experimental results. A link mechanism with a clearance at a joint between the coupler and locker is made for the investigation of the condition monitoring of a machine due to clearance. The vibration and sound are measured from the link driving system during the operation. The signals are clarified using line enhancement technique. The noise removed signals are used to develop the dynamic model of the system for a model based fault diagnosis. Also this study showed that the clarified signals can be used for the calculation of the joint forces between the coupler and rocker and for the correlation between the vibration and sound levels and the clearance sizes.

• 로봇학회논문지
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• 제15권2호
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• pp.177-183
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• 2020

Collaborative Robot (Cobot) that can collaborate with humans by fusion with many advanced technologies among industrial robots in the industrial field are attracting attention. In this study, the engineers of Small and Medium Enterprises can directly participate in the cobot design, and ultimately, the possibility of deriving the shape design of the differentiated cobot was studied. The method applied to derive the shape design of differentiated cobot is 'Morphological Analysis'. First, the design elements of the form of cobots were derived as 'Link' and 'Joint'. In addition, by analyzing the image form of the Link and Joint of the existing cobot, a new form element of the Link and Joint was proposed. In order to quantitatively identify the most discriminating cobot shape design, FGI (Focus Group Interview) was conducted to derive image types of 4 Link and 3 Joint. Then, the most important 'Shape Combination' was carried out in morphological analysis, and 12 new cobot shape designs were drawn. Through this, the applicability of the morphological analysis method in the derivation of differentiated cobot shape design was examined.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.113.5-113
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• 2001

In this work, we consider the flexible manipulator system. Generally, the manipulator system may often be made on the base of the imperfect modeling, joint friction, payload change, and external disturbances. These elements are uncertain factors. These uncertainties and flexibility make difficult to control the system. To overcome these defects, a class of robust control law is proposed for the flexible manipulator system and the singular perturbation approach is applied. To show the effectiveness of this control law, simulation is presented for one degree of freedom flexible joint and flexible link system.