• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.681-683
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• 2004

This paper describes the control of a geared DC motor having a backlash for implementation of a humanoid robot using disturbance observer. Critical problem of the humanoid robot is caused by the nonlinearity such as a backlash. To meet this problem, a control method using disturbance observer has been proposed. The disturbance observer is designed to estimate the effects of nonlinearities in the system, to make the nonlinear system behave linearly. To design the low-pass filter in the disturbance observer, cut-off frequency of the output should be found. The goal of this paper is the implementation of the proposed system, compensating the backlash effect. To accomplish the goat, PD control and disturbance observer are employed to the system with no load and full load. As a result, system stability can be guaranteed by compensating the effect of backlash. In addition, real experiment shows the proposed control methodology will satisfy the stable working of a humanoid type in the future.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.187-189
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• 2006

In mechanical system, gear trains have backlash innately. With the presence of inherent backlash, the overall system performance is limited in many practical control systems. It has been reported that a disturbance observer has the property of effective removing disturbance and cutting measurement noise off. The plant is remodeled with modified disturbance observer to observe and compensate backlash characteristics. And this paper describes a method to design Q filter and to analyze the effects of disturbance and measurement noise to the output. It is shown that the vibration and tracking error caused by backlash were decreased and the time constant and relative degree are important factor to design Q filter.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.12
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• pp.799-803
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• 2004

In rotating systems, backlash impose limitations on the quality of control. System with gear is an example where this is a well-known limitation. In order to increase the controller performance, we design a fuzzy system to compensate the backlash effect. We prove that under certain conditions the fuzzy compensator guarantees that the backlash output converges to the desired trajectory. Simulation results show that the fuzzy compensator is robust to the backlash parameter.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.5 no.3
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• pp.40-49
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• 1996

The problem related to the rotational vibration at steering wheel end of passenger cars during high speed driving is investigated. to analyze vibration of steering wheel, a steering system of passenger car is modelled in twelve degrees of freedom including backlash effect of rack and pinion gear system. The one degree of freedom system with backlash in investigated by the analytical method. Consequently the skeleton curve and the frequency response curves are computed. The steering system is analyzed by the numerical simulation using the 4th order Runge-Kutta method, the obtained results are compared with the experimental data. Also the effects of the change of rack gear tooth stiffness and backlash on the acceleration level of steering wheel are investigated. As a result, it can be found that the acceleration level of steering wheel becames lower as the rack gear tooth stiffness becames higher, and that acceleration level becames high as the magnitude of backlash between rack and pinion gear increase.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.192-194
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• 2006

Backlash between meshing gear teeth causes impact, tracking error and undesired vibrations. It is usually minimized by precision gear, spring-loaded anti-backlash gears and precise mechanical adjustment. Although these techniques can help to reduce the backlash gap, its cost is relatively high and performance is limited. And the classic controller is insufficient to control the dynamic system with nonlinearity. For these reason, a fuzzy controller is proposed to compensate the backlash effect at a robot system. The input variables are position error and change in error. The output variable can be defined by input voltage of motor. The performance of a fuzzy controller is verified by comparing with a PID controller. The results show that the undesired vibration is suppressed. And then diminishing the position error is observed.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.470-470
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• 2000

This paper describes a new method of identifcation of backlash nonlinear systems by use of M-sequence correlation method. In this method, we can obtain not only Volterra kernels of up to 3rd order of the nonlinear system, but also the width of the backlash element from observing the crosscorrelation between the input and the output. Here strictly speaking, a multi-valued nonlinear system such as backlash element can not be expressed by Volterra kernel representation mathematically. But in practice, we encounter many cases where it is difficult to treat them mathematically but they can be controlled from experience. So we here dare to suppose that backlash nonlinear system can be approximated by Volterra kernel representation. Simulations are carried out on a nonlinear system consisting of linear part plus backlash element. And Volterra kernels are measured. The output calculated from the observed Volterra kernels is in good agreement wi th the actual output. And we show that we can obtain the width of backlash element, which is one of the most important parameters, by observing the maximum value of crosscorrelation function between the input M-sequence and the output.

• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.48-56
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• 2014

In robotic surgery, a surgeon checks only a surgical site of patient in the progress of surgery by vision and sound information. In order to solve this limited information, the haptic function is necessary. And haptic surgical robot is also necessary to design a haptic master device. The master device for laparoscope operation with cable-conduit was developed in previous research to give haptic function. It suggested a possibility of developing a master device by using the cable-conduit. However, it is very inconvenient to use. Therefore, this paper suggests a new mechanism design structure to solve the problems of the previous work by new forming a new master device. And it has proved that it's usability is better than previous one. Furthermore it has also experimented and analyzed that a backlash of new master device is compensated by smooth backlash inverse algorithm.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.11a
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• pp.73-78
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• 2001

Main sources of the vibration of a gear-pair system are backlash and transmission error. This paper investigates the dynamics of a gear-pair system involving backlash and transmission error. This paper presented 4 types of gear motions due to the existence of a backlash. The solutions are calculated using a multiple-time scale method and numerically. The results shows the existence of 4 type motions, jump phenomenon, and chaotic motion consequently the design of gear driving system with low vibration and noise requires the study on the effects of transmission error and backlash, i.e. nonlinearities in gear driving system.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2390-2392
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• 2001

The small gear head noise is caused by gear accuracy, assembling errors, and gear backlash. This main study is an investigation on noise quality of the small gear head through the change of gear backlash. In this study included gear design parameters related the small gear head, the knowledge of rattle noise related gear backlash, and the experimentation results of the small head noise through change of gear backlash. At last, this study propose the least method of the small gear head noise that is caused by suitable existence of gear backlash.

• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.141-144
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• 1999

The authors have recently developed a new method for identification of Volterra kernels of nonlinear systems by use of pseudorandom M-sequence and correlation technique. And it is shown that nonlinear systems which can be expressed by Volterra series expansion are well identified by use of this method. However, there exist many nonlinear systems which can not be expressed by Volterra series mathematically. A nonlinear system having backlash type nonliear element is one of those systems, since backlash type nonlinear element has multi-valued function between its input and output. Since Volterra kernel expression of nonlinear system is one of the most useful representations of non-linear dynamical systems, it is of interest how the method of Volterra kernel identification can be ar plied to such backlash type nonlinear system. The authors have investigated the effect of application of Volterra kernel identification to those non-linear systems which, accurately speaking, is difficult to express by use of Volterra kernel expression. A pseudorandom M-sequence is applied to a nonlinear backlash-type system, and the crosscorrelation function is measured and Volterra kernels are obtained. The comparison of actual output and the estimated output by use of measured Volterra kernels show that we can still use Volterra kernel representation for those backlash-type nonlinear systems.