• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10b
• /
• pp.884-889
• /
• 1990

In this paper, a new hybrid position control algorithm for the direct drive arm is proposed. The proposed control is composed of discrete feedforward component and continuous feedback component. The discrete component is the nominal torque which approximately compensates the strong nonlinear coupling torques between the links, while the continuous control is a modified version of sliding mode control which is known to have a robust property to the disturbances of system. For the proposed control law, we give sufficient condition which guarantees the bounded tracking error in spite of the modeling errors, and the efficiency of the proposed algorithm is demonstrated by the numerical simulation of a three link manipulator position control with payloads and parameter errors.

• Journal of the Korean Society of Industry Convergence
• /
• v.22 no.4
• /
• pp.415-425
• /
• 2019

This study proposes a new approach to control Moving Stuff Action Through Iterative Learning robot with dual arm for smart factory. When robot moves object with dual arm, not only position of each hand but also contact force at surface of an object should be considered. However, it is not easy to determine every parameters for planning trajectory of the an object and grasping object concerning about variety compliant environment. On the other hand, human knows how to move an object gracefully by using eyes and feel of hands which means that robot could learn position and force from human demonstration so that robot can use learned task at variety case. This paper suggest a way how to learn dynamic equation which concern about both of position and path.

• Physical Therapy Korea
• /
• v.28 no.3
• /
• pp.227-234
• /
• 2021

Background: The serratus posterior inferior (SPI) muscle originates from the spinous process of T11-L2 and inserts at the lower border of the 9-12th ribs. This muscle is involved in thoracolumbar rotation and stability. Several positions can be used to improve trunk stability; the quadruped position is a good position for easily maintaining a neutral spine. In particular, during one arm lifting, various muscles act to maintain a neutral trunk position, and the SPI is one of these muscles. If trunk stability is weakened, uncontrolled trunk rotation may occur at this time. Tape can be used to increase trunk stability. There have been no studies on the effect of taping applied to the SPI muscle on thoracolumbar junction (TLJ) stability. Objects: This study compared the TLJ rotation angle between three different conditions (without taping, transverse taping, and SPI muscle direction taping). Methods: Thirty subjects were recruited to the study (18 males and 12 females). The TLJ rotation angle was measured during one arm lifting in a quadruped position (ALQP). Two taping methods (transverse and SPI muscle direction taping) were applied, and the TLJ rotation angle was measured in the same movement. Results: SPI muscle direction taping significantly reduced TLJ rotation compared to that without taping (p < 0.001) and with transverse taping (p < 0.001). There was a significant difference in the TLJ rotation angle between transverse taping and SPI muscle direction taping (p < 0.017). Conclusion: SPI muscle direction taping reduces the TLJ rotation angle during ALQP. Therefore, SPI muscle direction taping is one method to improve TLJ stability and reduce uncontrolled TLJ rotation during ALQP.

• Journal of the Korean Society for Precision Engineering
• /
• v.17 no.1
• /
• pp.216-223
• /
• 2000

A robot arm with free joints has some advantages over conventional ones. A light weight and low power consumed arm can be made by a reduction of the number of joint actuators. And this arm can easily overcomes actuator failure due to unexpected accident. In general such underactuated arm does not have controllability because of the lack of joint actuators. The two-link arm with a free joint introduced in this paper is also uncontrollable in the sense of linear system theory. However, the linearized system sometimes can not represent the inherent dynamic behavior of the nonlinear system. In this paper the dynamic characteristics of the two-link arm with a free joint in view of global motion including damping and friction effect of the joints is investigated. In the case of considering only the damping effect, the controllable goal positions are confined to a specific trajectories. But in the case of considering the friction effect, the system can be controlled to arbitrary positions using the friction of the free joint as a holding brake. Also numerical example of position control is presented.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.1121-1125
• /
• 2003

In this paper we deal with visual servoing that can control a robot arm with a camera using information of images only, without estimating 3D position and rotation of the robot arm. Here it is assumed that the robot arm is calibrated and the camera is uncalibrated. We use a pinhole camera model as the camera one. The essential notion can be show, that is, epipolar geometry, epipole, epipolar equation, and epipolar constrain. These play an important role in designing visual servoing. For easy understanding of the proposed method we first show a design in case of the calibrated camera. The design is constructed by 4 steps and the directional motion of the robot arm is fixed only to a constant direction. This means that an estimated epipole denotes the direction, to which the robot arm translates in 3D space, on the image plane.

• KOREAN JOURNAL OF CROP SCIENCE
• /
• v.43 no.2
• /
• pp.120-123
• /
• 1998

Based on the co-linearity in the Triticeae, comparative RFLP analysis of 2M chromosome of Ae. comosa Sibth et Sm. was performed with 2MS and 2M additional lines of Triticum aestivum L. cv. Chinese Spring. Among the wheat RFLP probes conserved in the short arms of wheat chromosome 2, those above psr912 were located on the long arms of 2M in Aegilops comosa. The rest probes on the short arm and all the probe sequences on the long arm of group 2 chromosome in wheat were conserved on the equivalent chromosomal position in Aegilops comosa. So, it is apparent that some chromosomal segment from the short arm had been transferred to long arm while reconstructing 2M chromosome relative to wheat chromosomes. The break-point was located between psr912 and psr131 of the short arm. This rearrangement of chromosome 2M might be a molecular evidence of the M genome speciation from an ancestral type.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.229-232
• /
• 1996

The position control accuracy of the robot arm is decreased significantly when a long arm robot is operated at high speed. In this case, the robot arm must be modeled as a flexible structure, not a rigid one, and its control system will be necessarily designed with its elastic modes taken into account. In this paper, the vibration control of a one-link flexible robot arm is presented. The robot system consists of a flexible arm manufactured with thin aluminium plate, AC servomotor with a harmonic drive for speed reduction, optical encoder and accelerometer. The system is modeled with limited number of elastic modes, and its parameters are determined from the results of the experiments. The implemented control schemes are LQ control and sliding mode control. The experiments and digital simulations are carried out to test the validity of the system modeling, controller design, and active control implementation.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.23.2-23
• /
• 2001

In this paper we deal with visual servoing that can control a robot arm with a camera using information of images only, without estimating 3D position and rotation of the robot arm. Here it is assumed that the robot arm is calibrated and the camera is uncalibrated. We use a pinhole camera model as the camera one. The essential notion can be show, that is, epipolar geometry, epipole, epipolar equation, and epipolar constrain. These play an important role in designing visual servoing. For easy understanding of the proposed method we first show a design in case of the calibrated camera. The design is constructed by 4 steps and the directional motion of the robot arm is fixed only to a constant direction. This means that an estimated epipole denotes the direction, to which the robot arm translates in 3D space, on the image plane.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.2
• /
• pp.190-196
• /
• 2000

A hybrid position/force control scheme to regulate the force and position by dual arms is proposed where two arms are treated as one rm in a kinematic viewpoint. The force error calculated from the information of two force/torque sensors attached to the end of each arm is transferred to minimum configuration space coordinates and then is distributed to total system joint coordinates, The position adjustment at the total con-figuration coordinates is computed based on the effective compliance matrix with respect to total joint coordinates which is obtained by coordinate transformation between the task coordinates and the total joint coordinates. The proposed scheme is applied to sawing task. When the trajectory of the saw is planned to follow a line in a horizontal plane 2 position parameters are to be controlled(i.e., two translational positions) Also a certain level of contact force has to be controlled along the vertical direction(i.e. minus z-direction) not to loose the contact with the object to be sawn. We experimentally show that the performance of the velocity and force response are satisfactory. The proposed hybrid control scheme can be applied to arbitrary two cooperating arm system regardless of their kinematic structure and the number of actuated joints.

• The Korean Journal of Nuclear Medicine Technology
• /
• v.16 no.1
• /
• pp.44-49
• /
• 2012

Purpose: In the whole body PET/CT scan, it is natural to lift the patient's arm for its quality improvement. However, when the lesion is located in head and neck, the arms should be located lower. This study was designed to compare the CT effective dose for each arm position applying Automatic Exposure Control (AEC). Materials and Methods: 45 patients who had $^{18}F$-FDG whole body PET/CT scan were studied with Biograph Truepoint 40 (SIEMENS, GERMANY), Biograph Sensation 16 (SIEMENS, GERMANY), Discovery STe 8 (GE healthcare, USA). The CT effective dose of 15 patients for each equipment was measured and comparatively analyzed in both arm-lifted position and lower-arm position. ImPACT v1.0 program was used as the method of measurement for CT effective dose. For the statistics analysis, Paired t-test which paired with SPSS 18.0 statistic program was applied. Results: In the case of arm-lifted, it was measured as $6.33{\pm}0.93mSv$ for Biograph Sensation 16, $8.01{\pm}1.34mSv$ for Biograph Truepoint 40, and $9.69{\pm}2.32mSv$ for Discovery STe 8. When arms are located lower position, it was measure as $6.97{\pm}0.76mSv$, $8.95{\pm}1.85mSv$, $13.07{\pm}2.87mSv$ for each. CT effective dose according to the arm position was 9.2% for Biograph Truepoint 40, 10.5% for Biograph Sensation 16, and 25.9% for Discovery Ste 8. The statistics analysis showed the meaningful difference ($p$<0.05). Conclusion: For the whole body PET/CT case, CT effective dose applying AEC was decreased the radiation exposure of the patients when the arm was lifted for 15.2% of average value. The patient who has no lesion in head and neck would decrease the artifact occurrence in objective part and lower the CT effective dose. Also, for the patient who had lesion in head and neck, the artifact in objective part can be lower by putting the arms down, the fact that CT effective dose increases should be concerned in its whole body PET/CT scan.