• The Transactions of the Korean Institute of Electrical Engineers
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• v.43 no.3
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• pp.485-492
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• 1994

Trajectory tracking control porblems are described for a two-link robot manipulator with artificial rubber muscle actuators. Under the assumption that the so-called independent joint control is applied to the control system, the dynamic model for each link is identified as a linear second-order system with time-lag by the step response. Two control laws such as the feedforward and the computed torque control methods, are experimentally applied for controlling the circular trajectory of an actual robot mainpulator.

• Proceedings of the KSR Conference
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• 2007.05a
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• pp.675-679
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• 2007

The control method of programmable dynamometer for overall test of machine is to load reference torque which is computed from torque transducer into motor under test. But the torque information detected from torque transducer have a lot of noise when the load torque of moter is a small quantity or changing. Thus, torque transducer must have a low pass filter to detect a definite torque information. But The torque delay generated by filter with torque transducer occur a torque trouble for moter torque of programmable dynamometer. Therefore, this kind of system could not perform dynamic and nonlinear load. In this paper, the control method using the load torque observer without a measure for torque transducer is proposed. The proposed system improved the problem of the torque measuring delay with torque transducer, and the load torque is estimated by the minimal order state observer based on the torque component of the vector control induction moter. Therefore, the torque controller is not affected by a load torque disturbance.

• The Transactions of the Korean Institute of Power Electronics
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• v.19 no.3
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• pp.249-256
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• 2014

This paper proposes a torque control method of permanent magnet synchronous motor, which has small torque ripple. The proposed control method is using the finite control set-model predictive control(FCS-MPC) strategy. An optimal input voltage vector minimizing a cost function is chosen among 6 passible active input voltage vectors following the FCS-MPC strategy. Then, a modulation factor for the optimal input voltage vector is computed to minimize the torque ripple. Thus, the proposed control method yields fast torque response and small torque ripple. The efficacy of the proposed method was verified through simulation and experiment.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.41 no.4
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• pp.400-410
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• 1992

This paper deals with a design of neural network control architectures for robot motion. Three types of control architectures are designed as follows : 1) a neural network control architecture which has the same characteristics as computed torque method 2) a neural network control architecture for compensating the control error on computed torque method with fixed feedback gain 3) neural network adaptive control architecture. Computer simulation of PUMA manipulator with 6 links is conducted for robot motion in order to examine the proposed neural network control architectures.

• Journal of the Society of Naval Architects of Korea
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• v.49 no.5
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• pp.400-409
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• 2012

It is not easy to know the accurate mass and mass moment of inertia of robot. Because of this uncertainty, error may exist when we control the robot based on the inaccurate mass information. Moreover the properties of the portable robot can change during its operation. Therefore we developed the motion simulator based on the adaptive control. First, the computed torque control was carried out in order to minimize an error between target angles and real angles. The computed torque control is based on the equation of robot motion, which is derived from the Lagrange-Euler equation. To minimize the error between the real model and the approximated model, the adaptive control was carried out. During this simulation, the interference check was also carried out. The interference check verifies that the robot can move successfully without any collision.

• Proceedings of the KSR Conference
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• 2003.05a
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• pp.427-432
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• 2003

The control method of programmable dynamometer for overall test of machine is to load the reference torque which is computed from torque transducer into motor under test. But the torque information detected from torque transducer have a lot of noise when the load torque of moter is a small quantity or changing. Thus, torque transducer must have a low pass filter to detect a definite torque information. But The torque delay generated by filter with torque transducer occur a torque trouble for meter torque of programmable dynamometer. The proposed system improved the problem of the torque measuring delay with torque transducer, and the load torque is estimated by the minimal order state observer based on the torque component of the vector control induction meter. Therefore, the torque controller is not affected by a load torque disturbance.

• Proceedings of the KIEE Conference
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• 2003.07b
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• pp.1108-1110
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• 2003

The control method of programmable dynamometer for overall test of machine is to load the reference torque which is computed from torque transducer into motor under test. But the torque information detected from torque transducer have a lot of noise when the load torque of meter is a small quantity or changing. Thus, torque transducer must have a low pass filter to detect a definite torque information. But The torque delay generated by filter with torque transducer occur a torque trouble for meter torque of programmable dynamometer. The proposed system improved the problem of the torque measuring delay with torque transducer, and the load torque is estimated by the minimal order state observer based on the torque component of the vector control induction moter. Therefore, the torque controller is not affected by a load torque disturbance.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.52 no.5
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• pp.211-220
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• 2003

The control method of programmable dynamometer for overall test of machine is to load the reference torque which is computed from torque transducer into motor under test. But the torque information detected from torque transducer have a lot of noise when the load torque of meter is a small quantity or changing. Thus, torque transducer must have a low pass filter to detect a definite torque information. But The torque delay generated by filter with torque transducer occur a torque trouble for meter torque of programmable dynamometer. Therefore, this kind of system could not perform dynamic and nonlinear load. In this paper, the control method using the load torque observer without a measure for torque transducer is Proposed. The proposed system improved the problem of the torque measuring delay with torque transducer, and the load torque is estimated by the minimal order state observer based on the torque component of the vector control induction meter. Therefore, the torque controller is not affected by a load torque disturbance. To verify a superiority of the proposed control algorithm, the analysis for a root locus of a conventional control method and the proposed one, and simulation and experiment is performed. Therefore we hope to be extended in industrial application.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.1
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• pp.100-104
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• 1998

A hybrid control method based on the relative motion between a manipulator and a workpiece is described for a two-dimensional manipulator, in which it is assumed that there are no collisions between the robot manipulator and the workpiece, and that we use a computed force law which is similar to the computed torque law in the trajectory tracking problem of a robot manipulator. The effectiveness of the proposed hybrid control method is illustrated through several simulations.

• International Journal of Precision Engineering and Manufacturing
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• v.2 no.1
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• pp.5-10
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• 2001

A method is proposed to obtain the Jacobian matrix of the 5 -bar parallel manipulator by employing the orthogonality between position and velocity vectors of rotating rigid-body around a fixed point. The dynamics of the 5-bar parallel manipulator is analyzed and utilized to design the computed-torque controller by developing a transformation matrix of the passive joints with respect to the active ones. In experimental demonstration, it shows that high-speed and accuracy tasks are performed by the proposed computed-torque control.