• Title/Summary/Keyword: control arm

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Tip Position Control of Flexible Robot Manipulators Using 2-DOF Controller with Sliding Mode (슬라이딩 모드를 가진 2-자유도 제어기를 이용한 유연한 로봇 조작기의 끝점 위치 제어)

  • 신효필;이종광;강이석
    • Journal of Institute of Control, Robotics and Systems
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    • v.6 no.6
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    • pp.471-477
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    • 2000
  • The position control accuracy of a robot arm is significantly deteriorated when a long arm robot is operated at a high speed. In this case, the robot arm must be modeled as a flexible structure, not a rigid one, and its control system should be designed with its elastic modes taken into account. In this paper, the tip position control scheme of a one-link flexible manipulator using 2-DOF controller with sliding mode is presented. The robot consists of a flexible arm manufactured with a thin aluminium plate, an AC servo motor with a harmonic drive for speed reduction, an optical encoder and a CCD camera as a vision sensor for on-line measuring the tip deflection of the flexible m. Simulation and experimental results of the flexible manipulator with a proposed controller are provided to show the effectiveness of the controller.

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The Vibration Control of Flexible Manipulators using Adaptive Input Shaper (적응 입력다듬기를 이용한 유연한 조작기의 진동제어)

  • 신효필;정영무;강이석
    • Journal of Institute of Control, Robotics and Systems
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    • v.5 no.2
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    • pp.220-227
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    • 1999
  • The position control accuracy of a robot arm is significantly deteriorated when a long slender arm robot is operated at a high speed. In this case, the robot arm needs to be modeled as a flexible structure, not a rigid one, and its control system needs to be designed with its elastic modes taken into account. In this paper, the vibration control scheme of a one-link flexible manipulator using adaptive input shaper in conjunction with PID controller is presented. The robot consists of a flexible arm manufactured with a thin aluminium plate, an AC servo motor with a harmonic drive for speed reduction, an optical encoder and an accelerometer. On-line identification of the vibration mode is done using the pruned decimation-in-time FFT algorithm to estimate the parameter of the input shaper. Experimental results of the flexible manipulator with a PID controller and input shaper are provided to show the effectiveness of the advocated controllers.

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A Study for Medical Precision Control Machine Using AX-12

  • Jo, Heung-Kuk
    • Journal of information and communication convergence engineering
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    • v.8 no.5
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    • pp.591-594
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    • 2010
  • Control devices perform various works for us in many areas. The device is being utilized for precision movement of certain object. In as much as control devices are activated by means of motors, motor control is important.[1][2] Generally, servo motors capable of precision control are more frequently used than DC motors. Use of 3 motors allows 3- way movement. Medical controllers for surgical operation require high precision. [3][4][5][6] AX-12, a servo motor can realize various types of movement. AX-12 can be easily manufactured in the form of a robotic arm and has features that MCU and its peripheral circuits are simple. For precision movement, 3 motors can be controlled by use of a single joystick and 2 buttons, with movement angles being adjusted by having preset values in the program changed.[7][8] By virtue of this study, we have realized small precision robotic arm system utilizing single joystick and 2 buttons. This system can control the robotic arm in the direction desired by the user. The system has been designed such that a joystick controls 2 motors with the remaining motor being controlled by a button. Single MCU is tasked with both control and movement.[9] We have shown precision robotic arm system in the Figure contained in the conclusion part and made reference to results of analysis in there. It has also been demonstrated that the system can be utilized in the industry.[8]

Structural Design of an Upper Control Arm, Considering Static Strength (정강도를 고려한 상부 컨트롤 암의 구조설계)

  • Song, Byoung-Cheol;Park, Han-Seok;Kwon, Young-Min;Kim, Sung-Hwan;Park, Young-Chul;Lee, Kwon-Hee
    • Transactions of the Korean Society of Automotive Engineers
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    • v.17 no.1
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    • pp.190-196
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    • 2009
  • This study proposes a structural design method for the upper control arm installed at the rear side of a SUV. The weight of control arm can be reduced by applying the design and material technologies. In this research, the former includes optimization technology, and the latter the technologies for selecting aluminum as a steel-substitute material. Strength assessment is the most important design criterion in the structural design of a control arm. At the proto design stage of a new control arm, FE (finite element) analysis is often utilized to predict its strength. This study considers the static strength in the optimization process. The inertia relief method for FE analysis is utilized to simulate the static loading conditions. According to the classification of structural optimization, the structural design of a control arm is included in the category of shape optimization. In this study, the kriging interpolation method is adopted to obtain the minimum weight satisfying the strength constraint. Optimum designs are obtained by ANSYS WORKBENCH and the in-house program, EXCEL-kriging program. The optimum results determined from the in-house program are compared with those of ANSYS WORKBENCH.

The Development of ADI(Austempered Ductile Iron) Lower Control Arm in 1050MPa Ultra-light (1050MPa급 초경량 오스템퍼드 구상흑연주철제 콘트롤암 개발)

  • Jeongick Lee
    • Journal of Advanced Technology Convergence
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    • v.2 no.2
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    • pp.9-14
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    • 2023
  • This study is shown the result of the first year to develop an export 1050MPa-class lightweight ductile iron castings Austempered control arm through the research process to obtain the following results. First, the structure of the optimal design Layout design and development of the component, and then achieve them through the Control Arm rigidity and optimal structure design and robust design of the focus areas of the expected stress Control Arm. Second, to develop a Control Arm reflects the high rigidity and high performance lightweight structures. Control Arm them developed to meet the design and rigidity as required by the consumer through the hollow, and to develop a process for the Core. Third, through optimum alloy composition and heat treatment methods will be derived to derive the amount of iron alloy (Cu, Ni, Mo) and Austempered heat treated and tempered condition. Fourth, through the development of optimum molding technology development component to develop the optimum ADI for the low-stiffness, high-rigidity component development, it attempts to develop a high-strength casting forming technology..

New Modeling of a Suspens~on System of Macpherson Type (Macpherson형 현가시스템의 새로운 모델링)

  • 홍금식;전동섭;유완석;최재원
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 1995.10a
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    • pp.509-512
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    • 1995
  • A new modeling incorporating the role of control arm is proposed for the Macpherson type suspension system. Vertical displacement of the sprung mass and angular displacement of the control arm are selected as main control variables in the new modeling. With the same values of suspension vehicle parameters the conventional modeling and the new modeling are compared in terms of open loop characteristics.

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A Development of Robot Arm Direct Teaching System (로봇팔 직접 교시 시스템 개발)

  • Woong-Keun Hyun
    • The Journal of the Korea institute of electronic communication sciences
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    • v.19 no.1
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    • pp.85-92
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    • 2024
  • In this paper, we developed an intuitive teaching and control system that directly teaches a task by holding the tip of a robotic arm and moving it to a desired position. The developed system consists of a 6-axis force sensor that measures position and attitude forces at the tip of the robot arm, an algorithm for generating robot arm joint speed control commands based on the measured forces at the tip, and a self-made 6-axis robot arm and control system. The six-dimensional force/torque of the position posture of the robot arm operator steering the handler is detected by the force sensor attached to the handler at the leading edge and converted into velocity commands at the leading edge to control the 7-axis robot arm. The verification of the research method was carried out with a self-made 7-axis robot, and it was confirmed that the proposed force sensor-based robot end-of-arm control method operates successfully through experiments by teaching the operator to adjust the handler.

Shift Steering Control of 2-axis ARM Helicopter based on a Neural Network (신경망 학습을 이용한 2축 ARM 헬리콥터의 중심이동 조향법)

  • Bae, Hyun-Soo;Kim, Byung-Chul;Lee, Suk-Gyu
    • Journal of Institute of Control, Robotics and Systems
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    • v.21 no.7
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    • pp.677-683
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    • 2015
  • This paper proposes a helicopter direction adjustment system using barycenter shift. Most conventional methods for direction adjustment of uniaxial helicopters rely on the angle of inclination of the main rotor. However, the inherent burden of the bearing of the main rotor and serious abrasion of the helicopter using the above methods may results in loss of balance. To decrease abrasion and enhance the barycenter stability, the proposed method was used to shift the barycenter of the helicopter instead of the main rotor for direction adjustment. We set a biaxial ARM on a uniaxial helicopter to adjust the direction of ARM pointing as well as to realize stable direction control when the helicopter loses its balance. The method may enhance the landing safety of helicopters in emergencies. Uniaxial helicopters can be controlled under any environment by adjusting the motor parameters of the ARM which is dependent on the center of mass using neural network. The experiment results show that the helicopter can return to the starting position quickly under the external disturbance.

The Design of Low-Cost Vector-Controlled Inverter for Induction Motor Using ARM Cortex-M4 Microcontroller (ARM Cortex-M4 마이크로컨트롤러를 사용한 유도전동기의 저가형 벡터제어 인버터 설계)

  • Kim, Dong-Ki;Yoon, Duck-Yong
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.14 no.2
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    • pp.816-821
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    • 2013
  • This paper proposes the design method of low-cost vector control system for induction motor using the ARM Cortex-M4 microcontroller. This MCU can be used instead of expensive DSP to control the home appliances such as refrigerator, air conditioner, washing machine and so on. This paper explains the major features of Cortex-M4 for motor control and how to realize a vector-controlled inverter using it. The developed system is applied to 3-phase induction motor of 200[W] and experimental results show good performance similar to the system using TMS320F28335 DSP.

Control of Piezoelectric Flexible Arm Using PI Type Fuzzy Algorithms (PI형 퍼지이론을 이용한 압전소자 플렉시블암의 제어)

  • 류재춘;박종국
    • Proceedings of the Korean Institute of Intelligent Systems Conference
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    • 1997.11a
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    • pp.234-238
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    • 1997
  • This paper describes the tip force control of a flexible minature arm. The arm is driven by the torques generated by the cells, and the endpoint of the arm is controlled so that it moves in synchrony with the fluctuation of the target and maintains a constant distance to the surface of the traget.

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