• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 추계학술대회 논문집 학회본부
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• pp.98-100
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• 1997

This paper proposes a mathematical model of impact force generated by collision between landing foot and ground, by which a dynamic analysis and a supplementation of existing stability criteria are made. By using the proposed dynamic analysis, an energy-optimized gaital algorithm is proposed. To prove the effectiveness of the algorithm, simulation results are shown compared to the result of previous gaital algorithm.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 제39회 하계학술대회
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• pp.1761-1762
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• 2008

In this paper, we propose an adaptive neural control method to solve this problem. It is assumed that the model uncertainties of the robots dynamics, joint flexibility, and motor dynamics are unknown. The dynamic surface design method is applied, and all uncertainties in the robot and motor dynamics are compensated by using the adaptive function approximation technique. Simulation results for three-link electrically driven flexible-joint (EDFJ) manipulators are provided to validate the effectiveness of the proposed control system.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
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• pp.22-26
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• 1999

In general, three are many degrees of freedom (DOF) in industrial robots. That can generate several special end-effector's positions and orientations. For that reason, industrial robots are used in a wide scope of industrial applications such as welding, spray painting, deburring, and so on. In this research, new method is presented which safely maintain the desired constant end-effector's orientation and minimize the numbers of segments in path. These algorithms may apply to welding, painting, and assembling. The simulation study of straight line and circular motions in arc-welding operations is carried out to show the sure proof of these algorithms.

• Journal of Mechanical Science and Technology
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• 제18권3호
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• pp.337-346
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• 2004

The control scheme using fuzzy modeling and Parallel Distributed Compensation (PDC) concept is proposed to provide asymptotic tracking of a reference signal for the flexible joint manipulators with uncertain parameters. From Lyapunov stability analysis and simulation results, the developed control law and adaptive law guarantee the boundedness of all signals in the closed-loop multi-input/multi-output system. In addition, the plant state tracks the state of the reference model asymptotically with time for any bounded reference input signal.

• 대한기계학회논문집A
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• 제24권7호
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• pp.1689-1696
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• 2000

This paper proposes a new adaptive control scheme for flexible-link robots. A model-based nonlinear control scheme is designed based on a V-shape Lyapunov function, and then the nonlinear control i s extended to a model-based adaptive control to cope with parametric uncertainties in the dynamic model. The proposed control guarantees the global exponential or global asymptotic stability of the overall control system with all internal signals bounded. The effectiveness of the proposed control is shown by computer simulation.

• Journal of Advanced Marine Engineering and Technology
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• 제33권5호
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• pp.713-720
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• 2009

Numerous applications of position controlling devices using servoing technique and transmission of energy through belt drives are practiced in the industry. Belt drive is a simple, lightweight, low cost power transmission system. Belt drives provide freedom to position the motor relative to the load and this phenomenon enables reduction of the robot arm inertia. It also facilitates quick response when employed in robotics. In this paper, precision positioning of a belt driven mechanism using a feed-forward compensator under maximum acceleration and velocity constraints is proposed. The proposed method plans the desired trajectory and modifies it to compensate delay dynamics and vibration. Being an offline method, the proposed method could be easily and effectively adopted to the existing systems without any modification of the hardware setup. The effectiveness of the proposed method is demonstrated through computer simulation and experimental results.

• 한국국방경영분석학회지
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• 제13권1호
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• pp.19-27
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• 1987

This paper deals with the development of an expert system modeling by constructing a knowledge-based system of the dive recovery for anticrash on the ground or sea during the task of fighter aircraft. In an IBM PC / XT computer, a prototype dive recovery expert system is constructed using mu LISP-86 programming language, and is interconnected to the SAM SUNG RM-501 robot arm to test and simulate this model. The knowledge base of this model is composed of the dive recovery charts and the V-N envelope charts of F-4 D Phantom fighter aircraft. It is shown that the prototype expert system woks well and the feasibility of practical realization is valid.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1990년도 하계학술대회 논문집
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• pp.514-517
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• 1990

In this paper, compliant motion control of a manipualator in manipulator is proposed by using the self-tuning adaptive controller. Compliant motion is needed in order to applicated to complicated and accurate fields such as assembly operation in which several parts are matched. For a control method of compliant motion hybrid control is used so forces and position control are proposed selectively through a closed feedback loop. By contacting with environment, the uncertainties higher. Self-tuning controller which adapts to variable dynamic response is applied to compliant motion control in order to satisfy the desired operation. The applicability of the suggested algorithm was confined by simulation of the contour tracking task of four joint manipulator.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 춘계 학술대회 학술발표 논문집
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• pp.315-318
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• 2003

A systematic output-tracking control design technique for robust control of Takagi-Sugeno (T-S) fuzzy systems with norm-bounded uncertainties is developed. The uncertain T-S fuzzy system is first represented as a set of uncertain local linear systems. The tracking problem is then converted into the stabilization problem for a set of uncertain local linear systems thereby leading to a more feasible controller design procedure. A sufficient condition for robust asymptotic output tracking is derived in terms of a set of linear matrix inequalities (LMIs). A stability condition on the traversing time-instances is also established. The output tracking control simulation for a flexible-joint robot-arm model is demonstrated, to convincingly show the effectiveness of the proposed system modeling and controller design method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.346-346
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• 2000

We proposed a method of second-order iterative learning control with feedback, which shows an enhancement of convergence speed and robustness to the disturbances in our previous study. In this paper, we show that the proposed second-order iterative learning control algorithm with feedback is more effective and has better convergence performance than the algorithm without feedback in the case of the existence of initial condition errors. And the convergence woof of the proposed algorithm in the case of the existence of initial condition error is given in detail, and the effectiveness of the Proposed algorithm is shown by simulation results.