• 로봇학회논문지
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• 제14권4호
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• pp.311-317
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• 2019

Direct teaching is an essential function for collaborative robots for easy use by non-experts. For most robots, direct teaching is implemented only in joint space because the realization of Cartesian space direct teaching, in which the orientation of the end-effector is fixed while teaching, requires a measurement of the end-effector force. Thus, it is limited to the robots that are equipped with an expensive force/torque sensor. This study presents a Cartesian space direct teaching method for torque-controlled collaborative robots without either a force/torque sensor or joint torque sensors. The force exerted to the end-effector is obtained from the external torque which is estimated by the disturbance observer-based approach with the friction model. The friction model and the estimated end-effector force were experimentally verified using the robot equipped with joint torque sensors in order to compare the proposed sensorless approach with the method using torque sensors.

• 전력전자학회논문지
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• 제3권1호
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• pp.23-35
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• 1998

영구자석 동기전동기의 제어에 있어서 토오크 맥동은 전동기 제어성능 결정에 큰 요인으로 작용한다. 본 논문에서는 이러한 토오크 맥동을 효과적으로 저감하기 위한 새로운 토오크 추정 및 제어기법에 대해서 다룬다. 제안된 기법에서는 모델 기준 적응시스템(Model reference adaptive system ; MRAS) 기법을 이용하여 순시 토오크를 추정하고 적본형 가변구 조제어(Integral variable structure control ; IVSC)를 이용하여 추정된 토오크를 제어한다. DSP를이용하여 고 토오크 영구자석 동기전동기 제어시스템을 구성하고 실험을 수행하였으며 그 결과 제안된 제어기법이 우수한 토오크 맥동 저감효과를 가짐을 입증하였다.

• 구강회복응용과학지
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• 제25권4호
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• pp.391-401
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• 2009

임플란트의 성공은 식립 후의 초기 안정성 (Initial stability)의 결과가 중요한 영향을 준다. 이 연구의 목적은 연질 골에서 두 종류의 테이퍼 형태 임플란트가 임플란트의 디자인과 self-tapping blade의 유무에 따라서 초기 안정성에 주는 영향을 알아보는 것이다. Self-tapping blade를 가지고 있는 것과 가지고 있지 않은 두 종류의 테이퍼 형태 임플란트가 사용되었다. Solid Rigid Polyurethane Form으로 연질 골 상태인 D4 골 모형을 재현하였다. 임플란트 고정체를 식립하면서 초기 안정성 값을 기록하고, 식립 직후 implant stability quotient (ISQ)을 측정하여 Resonance frequency Analysis (RFA)를 평가하였다. 마지막으로 임플란트가 식립된 모형골을 만능 시험기에 부착하여 장축 방향으로의 pull-out force를 측정하였다. 초기 안정성 값과 최대 pull-out torque 값은 non self-tapping implants가 self-tapping group에 비하여 통계학적으로 유의하게 큰 평균값을 나타냈다 (P = 0.008). 공진 주파수 분석 결과인 ISQ 값은 거의 비슷한 평균값을 보였으면 통계학적으로 차이가 없었다. 각 임플란트 시스템에서 식립 토크와 pull-out 최대 토크 그리고 공진 주파수 간에는 상관관계를 나타내지 않았다. Non self-tapping 임플란트의 높은 식립 토크는 임상적으로 우수한 초기 안정성을 의미한다. 결론적으로 연질 골에서 self-tapping blade가 없는 임플란트가 있는 것 보다 더 우수한 초기 안정성을 보였다.

• 전기학회논문지
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• 제60권3호
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• pp.524-530
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• 2011

This paper analyzes fault tolerance under a stator turn fault, according to the winding configuration. Improvement of torque characteristics and fault tolerance can be achieved by winding configuration without additional methods. And, torque characteristics and fault tolerance according to the winding configuration can be usually analyzed by analytical method. But, when the stator turn fault generates, compare to the steady-state, analysis of torque characteristics and fault tolerance using the analytical method is not accurate because it does not reflect influence in mutual inductance and magnetic non-linearity. Therefore, analysis of torque characteristics and fault tolerance has to be performed by using the numerical method under fault condition. This paper develops fault characteristics according to the winding configuration using the FEM-base model considered magnetic non-linearity. And, this paper suggests fault tolerance improvement according to the winding configuration, by the comparison of 8/12 and 10/12 models, under fault condition.

• 한국정밀공학회지
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• 제33권4호
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• pp.309-316
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• 2016

In this study, we described the design of a three-axis force/torque sensor for measuring the force and torque in a lower-limb rehabilitation robot. The three-axis force/torque sensor is composed of Fx force sensor, Fz force sensor and Tz torque sensor. The sensing element for Fx force sensor and Tz torque sensor is used in a two-step parallel plate beam, and that of Fz force sensor is used in a parallel plate beam. The rated loads of Fx force sensor, Tz torque sensor and Fz force sensor are 300 N, 15 N m and 100 N, respectively. The three-axis force/torque sensor was designed using the finite element method, and manufactured using strain-gauges. The three-axis force sensor was further characterized. As a result, the interference error of the three-axis force/torque sensor was < 1.24%, the repeatability error of each sensor was < 0.03%, and the non-linearity was < 0.02%.

• Journal of Electrical Engineering and Technology
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• 제12권3호
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• pp.1177-1186
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• 2017

This paper presents a torque ripple reduction method of direct torque control (DTC) using fuzzy controller with optimal selection strategy of voltage vectors in a five-phase induction motor. The conventional DTC method has some drawbacks. First, switching frequency changes according to the hysteresis bands and motor's speed. Second, the torque ripple is rapidly increased in long control period. In order to solve these problems, some/most papers have proposed torque ripple reduction methods by using the optimal duty ratio of the non-zero voltage vector. However, these methods are complicated in accordance with the parameter. If this drawback is eliminated, the torque ripple can be reduced compared with conventional method. In addition, the DTC can be simply controlled without the use of the parameter. Therefore, the proposed algorithm is changing the voltage vector insertion time by using the designed fuzzy controller. Also, the optimized voltage vector selection method is used in accordance with the torque error. Simulation and experimental results show effectiveness of the proposed control algorithm.

• 대한물리의학회지
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• 제8권4호
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• pp.567-571
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• 2013

PURPOSE: This study find out the effect of torque and power through various solidity of mouth guard on shoulder flexion and extension. METHODS: This study was conducted with healthy adults in their 20s Korean. Cybex system was used to measure the torque and power fo shoulder joint flexion/extension during isokinetic contraction when the various solidity mouth guard was used and no mouth guard was used. RESULT: The results of this study were summarized as follows: relative torque and average power was showed significantly difference between non applying mouth guard and applying hard type mouth guard during shoulder flexion and extension at isokinetic contraction. CONCLUSION: The application of hard type mouth guard was increased torque and power in joint of body. which may be clinically useful.

• Journal of Magnetics
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• 제19권4호
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• pp.411-417
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• 2014

This paper presents the shape optimization of a permanent magnet synchronous motor to reduce the torque ripple and iron loss. Specifically, the harmonics of the electromotive force and cogging torque are decreased by adjusting the permanent magnet arrangement and non-uniform air gap length. In addition, an additional flux path along the q-axis is proposed with a unique rotor shape to increase the q-axis inductance and reluctance torque. The improvement in the performance of the proposed model is verified with simulated and experimental results.

• 대한기계학회논문집A
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• 제24권11호
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• pp.2723-2731
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• 2000

Ultrasonic motors(USM) has been emerging as one type actuators, which possess many advantages such as high torque, low weight, compact size and no magnetic field generation. In spite of these features, there are several problems to be solved, which are temperature rise in case of long term operation, non -linearity, and hysteresis. Among these, hysteresis cause the most serious problem in force/torque control applications. To cope with this paper we propose a new PWM driving method which can be applied to force/torque control applications. To cope with this problem, in this paper we propose a new PWM driving method which can applied to force/torque control of USM. To verify the proposed method, an experimental setup was built and several experiments were performed.

• 제어로봇시스템학회논문지
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• 제4권5호
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• pp.644-650
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• 1998

In this paper , a state space model for flexible beam is presented using the assumed-modes approach. The state space equation is derived for a flexible beam in which one end is connected to a motor and is driven by a torque equation and the other end is free. Many of the transfer function proposed thus far use the torque to the flexible beam as the input and the tip deflection of the flexible beam as the output. The Technique for the analysis and synthesis of the dual-input describing function(DIDF) is introduced here and the construction of a non-linear compensator, based on this technique, is proposed. This non-linear compensator, properly connected in the direct path of a closed-loop linear or non-linear control system. The above non-linear network is used to compensate linear and non-linear systems for instability, limit cycles, low speed of response and static accuracy. The effectiveness of the proposed scheme is demonstrated through computer simulation and experimental results.