• International Journal of Precision Engineering and Manufacturing
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• 제2권4호
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• pp.61-68
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• 2001

A new approach for motion control of constrained mechanical systems is proposed in this paper. The approach uses a new equations of motion which is proposed by Udwadia and Kalaba and named Udwadia-Kalaba's equations of motion in this paper. This paper reveals that the Udwadia-Kalaba's equations of motion is more adequate to model constrained mechanical systems rather than the famous Lagrange's equations of motion at least for control purpose. The proposed approach coverts most of constraints including holonomic and nonholonomic constraints. Comparison of simulation results of two systems which are well-known in the literature show the superiority of the proposed approach. Furthermore, a special constrained mechanical system which includes nonlinear generalized velocities in its constraint equations, which has been considered to be difficult to control, can be controlled easily. It shows the possibility of the proposed approach to being a general framework for motion control of constrained mechanical systems with various kinds of constraints.

• 한국소음진동공학회논문집
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• 제15권1호
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• pp.46-52
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• 2005

This paper is concerned with the application of perturbation method to the dynamic analysis of free-free beam. In general, the rigid-body motions and elastic vibrations are analyzed separately. However, the rigid-body motions cause vibrations and elastic vibrations also affect rigid-body motions in turn, which indicates that the rigid-body motions and elastic vibrations are coupled in nature. The resulting equations of motion are hybrid and nonlinear. We can discretize the equations of motion by means of admissible functions but still we have to cope with nonlinear equations. In this paper, we propose the use of perturbation method to the coupled equations of motion. The resulting equations consist of zero-order equations of motion which depict the rigid-body motions and first-order equations of motion which depict the perturbed rigid-body motions and elastic vibrations. Numerical results show the efficacy of the proposed method.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 추계학술대회논문집
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• pp.300-306
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• 2004

This paper is concerned with the application of perturbation method to the dynamic analysis of free-free beam. In general, the rigid-body motions and elastic vibrations are analyzed separately. However, the rigid-body motions cause vibrations and elastic vibrations also affect rigid-body motions in turn, which indicates that the rigid-body motions and elastic vibrations are coupled in nature. The resulting equations of motion are hybrid and nonlinear. We can discretize the equations of motion by means of admissible functions but still we have to cope with nonlinear equations. In this paper, we propose the use of .perturbation method to the coupled equations of motion. The resulting equations consist of zero-order equations of motion which depict the rigid-body motions and first-order equations of motion which depict the perturbed rigid-body motions and elastic vibrations. Numerical results show the efficacy of the proposed method.

• 한국정밀공학회지
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• 제13권2호
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• pp.94-101
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• 1996

The equations of motion for a basic industrial robotic system which has a rigid or a flexible arm are derived by Lagrange's equation, respectively. Especially, for the deflection of the flexible arm, the assumed mode method is employed. These equations are highly nonlinear equations with nonlinear coupling between the variables of motion. In order to design the control law for the rigid-arm robot, Hunt-Su's nonlinear transformation method and Marino's feedback equivalence condition are used with linear quadratic regulator(LQR) theory. The control law for the rigid-arm robot is employed to input the desired path and to provide the required nonlinear transformations for the flexible-arm robot to follow. By using the implicit Euler method to solve the nonlinear equations, the comparison of the motions between the flexible and the rigid robots and the effect of flexibility are examined.

• 소음진동
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• 제6권5호
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• pp.567-574
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• 1996

This paper concerns an articulated space robot with flexible links. The equations of its motion are derived by means of the Lagrangian mechanics. Assuming that magnitude of elastic motions are relatively small, the perturbation approach is taken to separate the original equations of motion into linear and nonlinear equations. Th effect the desired payload motion, open loop control inputs are first determined based on the nonlinear equations. One the other hand, in order to reduce the positional errors during the maneuver, vibration suppression is actively done with a feedforward control for disturbance cancellation to some extent. Additionally, for performance robustness against residual disturbance, an LQ control modified to have a prescribed degree of stability is applied based on the linear equations. Measurement equations are formulated to be used for the maximum likelihood estimator to reconstruct states from the original robot equations of motion. Finally, numerical simulations show effectiveness of the proposed control design scheme.

• 대한기계학회논문집A
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• 제26권1호
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• pp.61-66
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• 2002

The nonlinear differential equations of motion of a fluid conveying curved pipe are derived by use of Hamiltonian approach. The extensible dynamics of curled pipe is based on the Euler-Bernoulli beam theory. Some significant differences between linear and nonlinear equations and the dynamic characteristics are discussed. Generally, it can be shown that the natural frequencies in curved pipes are changed with flow velocity. Linearized natural frequencies of nonlinear equations are slightly different from those of linear equations.

• Structural Engineering and Mechanics
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• 제55권2호
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• pp.281-298
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• 2015

In this study, nonlinear transverse vibrations of tensioned Euler-Bernoulli nanobeams are studied. The nonlinear equations of motion including stretching of the neutral axis and axial tension are derived using nonlocal beam theory. Forcing and damping effects are included in the equations. Equation of motion is made dimensionless via dimensionless parameters. A perturbation technique, the multiple scale methods is employed for solving the nonlinear problem. Approximate solutions are applied for the equations of motion. Natural frequencies of the nanobeams for the linear problem are found from the first equation of the perturbation series. From nonlinear term of the perturbation series appear as corrections to the linear problem. The effects of the various axial tension parameters and different nonlocal parameters as well as effects of different boundary conditions on the vibrations are determined. Nonlinear frequencies are estimated; amplitude-phase modulation figures are presented for simple-simple and clamped-clamped cases.

• 전기학회논문지
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• 제67권3호
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• pp.427-432
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• 2018

This paper uses a recursive least squares method to estimate the projectile motion trajectory of an object in real time. The equations of motion of the object are obtained considering the air resistance which occurs in the actual experiment environment. Because these equations consider air resistance, parameter estimation of nonlinear terms is required. However, nonlinear recursive least squares estimation is not suitable for estimating trajectory of projectile in that it requires a lot of computation time. Therefore, parameter estimation for real-time trajectory prediction is performed by recursive least square estimation after using Taylor series expansion to approximate nonlinear terms to polynomials. The proposed method is verified through experiments by using VICON Bonita motion capture system which can get three dimensional coordinates of projectile. The results indicate that proposed method is more accurate than linear Kalman filter method based on the equations of motion of projectile that does not consider air resistance.

• 한국정밀공학회지
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• 제22권4호
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• pp.128-135
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• 2005

Overhead crane systems consist of trolley, girder, rope, objects, trolley motor, girder motor, and hoist motor. The dynamic system of these systems becomes a nonlinear state equations. These equations are obtained by the nonlinear equations of motion which are derived from transfer functions of driving motors and equations of motion for objects. From these state equations, Lyapunov functions of overhead crane systems are derived from integral method. These functions secure stability of autonomous overhead crane systems. Also constraint equations of driving motors of trolley, girder, and hoist are derived from these functions. From the results of computer simulation, it is founded that overhead crane systems is secure.

• Structural Engineering and Mechanics
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• 제37권4호
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• pp.367-383
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• 2011

In this paper, nonlinear partial differential equations of motion for a hybrid composite plate subjected to initial stresses on elastic foundations are established to investigate its nonlinear vibration behavior. Pasternak foundation and Winkler foundations are used to represent the plate-foundation interaction. The initial stress is taken to be a combination of pure bending stress plus an extensional stress in the example problems. The governing equations of motion are reduced to the time-dependent ordinary differential equations by the Galerkin's method. Then, the Runge-Kutta method is used to evaluate the nonlinear vibration frequency and frequency ratio of hybrid composite plates. The nonlinear vibration behavior is affected by foundation stiffness, initial stress, vibration amplitude and the thickness ratio of layer. The effects of various parameters on the nonlinear vibration of hybrid laminated plate are investigated and discussed.