• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.4
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• pp.449-454
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• 2010

The force control of a constrained flexible manipulators has been one of the major research topics. However, a little effort has been devoted for the relation between friction force and elastic deflection of end-effector for a constrained flexible manipulator. So, the aim of this paper is to clarify the friction mechanism of a constrained spatial multi-link flexible manipulator by changing the material and connected method of end-effector. In this study, a concise hybrid position/force control scheme is applied to the control of a flexible manipulator, and the experimental results for the constrained vertical motion and constrained horizontal motion is presented. Finally a comparison between these results are presented to show the reduction of vibration of link and friction force.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.498-502
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• 2004

In a link-motion mechanism, numerous links are interconnected and each link executes a constrained motion at a high speed. Due to the complicated constrained motions of the constituent links, dynamic unbalance forces and moments are generated and transmitted to the main frame. Therefore unwanted vibration is produced. This degrades productivity and precise work. Based on constrained multi-body dynamics, the kinematic analysis is carried out to enable design changes to be made. This will provide the fundamental information for significantly reducing dynamic unbalance forces and moments which are transmitted to the main frame. In this work, a link-motion punch press is selected as an example of a link-motion mechanism. To calculate the mass and inertia properties of every link comprising a link-motion punch press, 3-dimensional CAD software is utilized. The main issue in this work is to eliminate the first-order unbalance force and moment in a link-motion punch press. The mass, moment of inertia link length, location of the mass center in each link have a great impact on the degree of dynamic balancing which can be achieved maximally. Achieving good dynamic balancing in a link motion punch press is quite essential fur reliable operation at high speed.

• Journal of KSNVE
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• v.7 no.5
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• pp.773-780
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• 1997

Using Generalized Inverse Method presented by Udwadia and Kalaba in 1992, we can obtain equations to exactly describe the motion of constrained systems. When the differential equations are numerically integrated by any numerical integration scheme, the numerical results are generally found to veer away from satisfying constraint equations. Thus, this paper deals with the numerical integration of the differential equations describing constrained systems. Based on Baumgarte method, we propose numerical methods for reducing the errors in the satisfaction of the constraints.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.3_1spc
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• pp.558-565
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• 2013

This paper describes a whole-body (human body's) motion generation scheme for an android robot that uses motion capture device and a nonlinear constrained optimization method. Because the captured motion data are based on global coordinates and the actors have different heights and different upper-lower body ratios, the captured motion data cannot be used directly for a humanoid robot. In this paper, we suggest a method for obtaining robot joint angles, which allow the resultant robot motion to be as close as possible to the captured human motion data, by applying a nonlinear constrained optimization method. In addition, the results are animated to demonstrate the similarity of the motions.

• Journal of Mechanical Science and Technology
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• v.18 no.10
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• pp.1691-1699
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• 2004

The objective of this study is to present an accurate and simple method to describe the motion of constrained mechanical or structural systems. The proposed method is an elimination method to require less effort in computing Moore-Penrose inverse matrix than the generalized inverse method provided by Udwadia and Kalaba. Considering that the results by numerical integration of the derived second-order differential equation to describe constrained motion veer away the constrained trajectories, this study presents a numerical integration scheme to obtain more accurate results. Applications of holonomically or nonholonomically constrained systems illustrate the validity and effectiveness of the proposed method.

• Journal of Broadcast Engineering
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• v.20 no.2
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• pp.257-264
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• 2015

In this paper, Enhanced binary block matching method for Constrained one-bit transform (C1BT) based motion estimation is proposed. Binary motion estimation exploits the Number of non-matched points (NNMP) as a block matching criterion instead of the Sum of Absolute Differences (SAD) for low complex motion estimation. The motion estimation using SAD could use the smaller block for more accurate motion estimation. In this paper the enhanced binary block matching method using smaller motion estimation block for C1BT is proposed to the more accurate binary matching. Experimental results shows that the proposed algorithm has better Peak Signal to Noise Ration (PSNR) results compared with conventional binary transform algorithms.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.559-564
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• 1993

Nonlinear equation of motion of the flexible manipulator are derived by the Lagrangian method in symbolic form to better understand the structure of the dynamic model. The resulting equations of motion have a structure which is useful to reduce the number of terms calculated, to check correctness, or to extend the model to high order. A manipulator with a flexible 4 bar link mechanism is a constrained system whose equations are sensitive to numerical integration error. This constrained system is solved using the null space matrix of the constraint Jacobian matrix. Singular value decomposition is a stable algorithm to find the null space matrix.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.11 no.7
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• pp.261-266
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• 2001

The flexural vibration of laminated composite beams with active and passive constrained layer damping has been investigated to design a structure with maximum possible damping capacity. The equations of motion are derived fro flexural vibrations of symmetrical,. multi-layer laminated beams. The damping ratio and model damping of the first bending mode are calculated by means of iterative complex eigensolution method. The direct negative velocity feedback control is used for the active constrained layer damping. It is shown that the flexible laminated beam is more effective in the vibration control for both active and passive constrained layer damping. and this paper addresses a design strategy of laminated composite under flexural vibrations with constrained layer damping.

• Journal of Mechanical Science and Technology
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• v.14 no.2
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• pp.159-167
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• 2000

A computational method for the dynamic analysis of a constrained mechanical system is presented in this paper. The partial velocity matrix, which is the null space of the Jacobian of the constraint equations, is used as the key ingredient for the derivation of reduced equations of motion. The acceleration constraint equations are solved simultaneously with the equations of motion. Thus, the total number of equations to be integrated is equivalent to that of the pseudo generalized coordinates, which denote all the variables employed to describe the configuration of the system of concern. Two well-known conventional methods are briefly introduced and compared with the present method. Three numerical examples are solved to demonstrate the solution accuracy, the computational efficiency, and the numerical stability of the present method.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.11a
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• pp.310.1-310
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• 2002

Dynamic characteristics of smart laminated composite plates with passive constrained layer damping have been investigated to design structure with maximum possible damping capacity. The equations of motion are derived fur flexural vibrations of symmetrical, multi-layer laminated plates. The damping ratio and modal damping of the first bending and torsional modes are calculated by means of iterative complex eigensolution method. (omitted)