• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.104.5-104
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• 2002

In this paper, we focus on a configuration control method of a redundant manipulator. The configuration of a redundant manipulator has been determined by geometry constraints and additional conditions, such as obstacle avoidance and dexterity optimization. This paper also utilizes optimization, and the additional condition (or performance index) to be optimized is stiffness of the end-effector and joints' torque. Stiffness and torque may be a natural attribute to be controlled during working and those vary as manipulator configuration does. So the optimal configuration from the viewpoint of stiffness and joint torque is studied. If the servo control mechanism of the joints Is assumed to be a...

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.895-901
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• 1993

This paper present controller designs based on the configuration control framework for a redundant manipulator to accomplish the basic task of desired, end-effector motion, while utilizing the redundancy to achieve the additional tasks such as joint motion control, obstacle avoidance, singularity avoidance. etc. A task based decentralized adaptive scheme is then applied for the configuration variables to track some reference trajectories as close as possible. Simulation results for a direct-drive three-link arm in the vertical plane demonstrate its capabilities for performing various useful tasks.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.605-610
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• 1994

This paper discusses the solution to the precise positioning control problem applied to a simple model of a dual stage or redundant positioner. The dual stage actuator presented here uses a VCM(Voice Coil Motor) as a coarse actuator and a piezoelectric actuator as a fine actuator. By adopting controllers with two-degree-of-freedom and by optimizing H$_{2}$ faster precise tracking can be realized. Experimental and numerical results are presented to demonstrate the control effects.

• Journal of Korean Neurosurgical Society
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• v.65 no.4
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• pp.591-597
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• 2022

Objective : Pituitary adenomas frequently extend into the suprasellar space. After a suprasellar tumor is removed, the superiorly extended arachnoid becomes redundant and sinks down into the intrasellar space which often hiders visualization and accessibility to the hidden space behind the evaginated arachnoid. We introduced arachnoid remodeling by clipping technique, and evaluated its usefulness and safety during TSS. Methods : Total 223 patients who underwent arachnoid remodeling with our new clipping technique were included. Redundant arachnoid was clipped along the dural edge with multiple 2.6-mm titanium clips until the redundant arachnoid membrane no longer blocked the surgical route. To check for possible deterioration of hormonal function by this technique, we assessed anterior pituitary function of 166 patients who underwent arachnoid remodeling by clipping and compared this with those of other 429 control patients. Results : Our technique greatly enhanced the accessibility and visualization of intrasellar and parasellar spaces, both of which are generally hindered by redundant arachnoid during transsphenoidal surgery (TSS). We found no difference in anterior pituitary function between a clip-assisted arachnoid remodeling group and the control group, implying that this technique does not result in hypopituitarism. Conclusion : During TSS for pituitary adenomas with suprasellar extension, arachnoid remodeling by clipping technique is very useful and convenient for the management of the redundant arachnoid membrane to enhance visualization and surgical accessibility.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.4
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• pp.227-235
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• 1993

In this paper, the development of a high performance flexible controller is described. The hardware of the controller, based on VME-bus, consists of four M68020 single-board computers (32-bit) with M68881 numerical coprocessors, two M68040 single board donputers, I/O devices (such as A/D and D/A converters, paraller I/O, encoder counters), and bus-to-bus adaptor. This software, written in C and based on X-window environment with Unix operating system, includes : text editor, compiler, downloader, and plotter running in a host computer for developing control program ; device drivers, scheduler, and mathemetical routines for the real time control purpose ; message passing, file server, source level debugger virtural terminal, etc. The hardware and software are structured so that the controller might have both flexibility and extensibility. In papallel to the controller, a three degrees of freedom kinematically redundant robot has been developed at the same time. The development of the same time. The development of the robot was undertaken in order to provide, on the one hand, a computationally intensive plant to which to apply the controller, and on the other hand a research tool in the field of kinematically redundant manipulator, which is, as such, an important area. By using the controller, dynamic control of the redundant manipulator was successfully experimented, showing the effectiveness and flexibility of the controller.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.1
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• pp.142-149
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• 1995

This paper presents a new kinematic control strategy for serial redundant manipulators which gives repeatability in the joint space when the end-effector undergoes some general cyclic motions. Theoretical development has been accomplished by deriving a new inverse kinematic equation that is based on springs being conceptually located in the joints of the manipulator. Although some inverse kinematic equations for serial redundant manipulators have been derived by many researchers, the new strategy is the first to include the free angles of torsional springs and the free lengths of the translational springs. This is important because it ensures repeatability in the joint space of a serial redundant manipulator whose end-effector undergoes a cyclic type motion. Numerical verification for repeatability is done in terms of Lie Bracket Condition. Choices for the free angle and torsional stiffness of a joint (or the free length and translational stiffness) are made based upon the mechanical limits of the joints.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.8
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• pp.1169-1176
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• 2013

PES have been recently required to implement railway industry for its application flexibility. The PES should be commensurated with railway safety requirements. It achieved its safety through redundant PES. The redundant systems run with voting functions. The successful major voting result becomes the output of the redundant system. The redundant system have to be synchronized to vote each output results. This paper proposed an algorithm for synchronizing and a voter. The proposed algorithm and the voter are verified using simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.9
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• pp.766-773
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• 2001

Omni-directional mobile robots have been popularly employed in several application areas. However, the kinematics for these systems have not been clearly identified, specially for redundantly actuated case which is common in omni-directional mobile robot such as the Nomadic model. For such mobile robot systems, exploitation of redundant actuation as well as singularity analysis has not been extensively addressed. In light of this fact, this paper introduces two different kinematic approaches for omni-directional mobile robots. Then, a singular-free load distribution scheme for redundantly actuated three-wheeled omni-directional mobile robot is proposed. Through simulation, several advantages of redundantly actuated mobile robot in aspect of singularity avoidance, minimization of torque norm, and exploiting several subtasks are presented.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2370-2373
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• 2004

In this paper we describe the design of a Dual-Redundant Power Controller(DRPC) for Control Rod Control System(CRCS). The CRCS also provides information regarding rod motion, rod position, and status of the Rod Control System. It has Hot/Stand-by type, and also has the function of fault detection for controller itself and power modules. We have implemented the various functions with the dual-redundant Power Controller. Due to the developed DRPC, we are assured that the commmecial use by this controller be made before long.

• Journal of Power Electronics
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• v.16 no.2
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• pp.473-479
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• 2016

In this paper, the PSC PWM method is chosen as the optimal modulation method for a 20MW VSC HVDC, with consideration of the harmonic distortion of the output voltage, the switching frequency, and the control implementation difficulty. In addition, a new PSC PWM method is proposed in order to achieve an easy application and to solve the redundant control problems encountered in the previous PSC PWM method. To verify the proposed PSC PWM method, PSCAD/EMTDC simulations for an 11-level MMC RTDS HILS test and an 11-level MMC prototype converter test were performed. As can be seen from the results of these tests, the proposed PSC PWM method shows good results in an 11-level MMC with redundant sub-modules.