• 한국정밀공학회지
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• 제12권1호
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• pp.97-103
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• 1995

This paper describes position and force hybrid control for a robot manipulator with artificial rubber muscle actuators. The controller using two control laws such as PID control and fuzzy logic control methods is designed. This paper concludes to show the effectiveness of the proposed controller by some experiments for a two-link manipulator.

• 디지털융복합연구
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• 제11권12호
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• pp.303-309
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• 2013

본 논문에서는 미군 전술통신 운용환경과 정책, 전술링크에서 보안정책 및 전달성능을 분석하였다. 운용환경에서는 운용통신 메시지와 반자동 전투력을 지원하는 프레임워크, 링크계층의 SINCGARS 사양을 살펴보았고, 전술 보안정책에서 COMSEC 정책과 응용계층 보안을 분석하였다. 또한 전술 통신환경에서 전송 성능 및 보안 동기 검출 측면에서 분석하였다. 전술링크와 COMSEC 보안정책은 AFKDMS, AKMS, RBECS, KIV-7/HSB 암호디바이스와 같은 측면에서 분석하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2535-2539
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• 2003

The haptic system becomes an essential device in the area of tele-operation, video entertainment and medical operation. To control a haptic device, impedance control method is widely used, but force sensor costs so much that open-loop control method is usually preferred for commercial purpose. In this case, modeled/un-modeled dynamics affects the performance of device. In this paper, we present a new 3DOF five-link type haptic device that we can reduce the effect of device dynamics and compensate its dynamics. We also evaluate its performance.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 A
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• pp.309-311
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• 1996

In this paper, we propose two types of novel discrete time current control methods of modified fixed band hysteresis control and optimal control for Parallel Resonant DC Link Inverters(PRDCLI). Because zero bus voltage intervals are generated on the DC link of PRDCLI, we can obtain the information of counter electromotive force(emf) by a simple estimation strategy. The proposed current controllers predict the currents of the next resonant cycle using the obstained information of counter emf and the average values of DC link voltages. The computer simulation results for a simple equivalent circuit of induction motor show that the proposed control methods are more effective than conventional methods.

• Journal of Mechanical Science and Technology
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• 제18권4호
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• pp.573-581
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• 2004

A self-contained wall climbing robot, called MRWALLSPECT (Multi-functional Robot for WALL inSPECTion) II, is developed. It is designed for scanning external surfaces of gas or oil tanks with small curvature in order to find defects. The robot contains all the components for navigation in itself without any external tether cable. Although it takes the basic structure of the sliding body mechanism, the robot has its original characteristic features in the kinematic design with closed link mechanism, which is enabled by adopting a simple and robust gait pattern mimicking a biological system. By employing the proposed link mechanism, the number of actuators is reduced and high force-to-weight ratio is achieved. This paper describes its mechanism design and the overall features including hardware and software components. Also, the preliminary results of experiments are given for evaluating its performances.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.397-401
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• 1997

An error analysis is very important for a precision machine to estimate its performances. This study deals with error of a new parallel device, cubic parallel manipulator. There are so many error sources in this mechanism. Errors of the cubic parallel device vary depending on the stiffness of the manipulator. The stiffness of each link depends on the directions of the link and actuation force. In this paper, the stiffness of the manipulator is calculated by ARAQUS and the position and orlentation errors are predicted within a given workspace. The analysis shows that the method can be used in predicting the accuracy of other parallel devices and in designing parallel devices.

• Journal of Mechanical Science and Technology
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• 제14권10호
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• pp.1028-1040
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• 2000

A numerical method is presented for the dynamic analysis of military tracked vehicles of high mobility. To compute the impulsive dynamic contact forces which occur when a vehicle passes on a ground obstacle, the track is modeled as the combination of elastic links interconected by pin joints. The mass of each track link, the elastic elongation of a track link between pin joints by the track tension, and the elastic spring effects on the upper and lower surfaces of each track link have been considered in the equations of motion. And the chassis, torsion bar arms, and road wheels of the vehicle are modeled as the rigid multi bodies connected with kinematic constraints. The contact positions and the contact forces between the road wheels and track, and the ground and the the track are simultaneously computed with the solution of the equations of motions of the vehicle consisting of the multibodies. The iterative scheme for the solution of the multi body dynamics of the tracked vehicle is presented and the numerical simulations are conducted.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 B
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• pp.617-619
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• 2000

This paper deals with the mechanical stress analysis caused by the electromagnetic radial force and the design considering the stress. The link in an Interior Permanent Magnet Brushless Motor(IPM) have influence on the mechanical and magnetic performance. Therefore, it is necessary to determine the appropriate link thickness. The optimal geometry link is designed by using the coupled with structural and electromagnetic Finite Element Method.

• 대한전기학회논문지:시스템및제어부문D
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• 제50권9호
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• pp.423-429
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• 2001

This paper proposes adaptive impedance control algorithm using fuzzy inference when robot contacts with its environments. The characteristics of the adaptive impedance controller is to adapt with parametric uncertainty and nonlinear conditions. The control algorithm is to join impedance controller with fuzzy inference engine. The proposed control method overcomes the problem of impedance controller using gain-tuning algorithm of fuzzy inference engine. We implemented an experimental set-up consisting of environment-generated one-link robot system and DSP system for controller development. We apply the adaptive fuzzy impedance controller to one-link root system, and it shows the good performance on regulating the interactive force in case of contacting with arbitrary environment.

• 한국정밀공학회지
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• 제16권11호
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• pp.213-223
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• 1999

In this paper, input-output transmission characteristics of the Eclipse, which is a parallel machine tool capable of 5 face rapid machining, are investigated. By splitting the weighted Jacobian matrix into two parts, the force and moment transmission characteristics together with the velocity and angular velocity transmission characteristics are analyzed. A new manipulability measure, which combines the volume of the manipulability ellipsoid and the condition number of the splitted Jcobian matrix, is proposed. Two link parameters, the ratio of upper and lower platforms' radii and the length of a supporting link of the Eclipse, are designed by applying the new manipulability measure derived. Computer simulations are provided.