• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.422-427
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• 1994

In this paper, we propose a new design approach of a two-degrees-of-freedom compensator which assures the robust stability. First of all, we clarify the internal structure of the generalized two-degrees-of-freedom compensator. By adopting this structure, we can make a bridge between the generalized controller and the disturbance observer based controller, Secondly, based on the clarified structure we derive a robust stability condition, and propose a design algorithm of free parameter taking the condition into account. The proposed design algorithm is easy to implement and, as a result, we obtain lower order free parameter then that of the conventional design algorithm.. Thirdly, we show by adopting an appropriate coprime factorization that the clarified structure can also be regarded as an extended version of the conventional PID compensator. Finally, we apply the proposed algorithm to a three-degrees-of freedom direct drive robot, and show some experimental results to verify the effectiveness of the proposed algorithm.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.411-416
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• 2000

Cutting process has been automated by progress of CNC and CAD/CAM, but polishing process has been depended on only experiential knowledge of expert. To automate the polishing process, a polishing robot with w degrees of freedom which is attached to a machining center with 3 degrees of freedom has been developed. This automatic polishing robot is able to keep the polishing tool normal on the curved surface of die to improve a performance of polishing. Polishing task for a curved surface die demands repetitive operation and high precision, but conventional control algorithm can not cope with the problem of disturbance such as a change of load. In this research, a new sliding mode control algorithm is applied to the robot. The signal compression method is used to identify polishing robot system. to obtain an effect of 5 degrees of freedom motion, a synchronization between the machining center and polishing robot is accomplished by using M code of machining center. And also a trajectory for polishing the curved surface die by 5 degrees of freedom motion, a synchronization between the machining center and polishing robot is accomplished by using M code of machining center. And also a trajectory for polishing the curved surface die by 5 axes machining center is divided into data of two types for 3 axes machining center and 2 axes polishing robot. To evaluate polishing performance of the robot. various experiments are carried out.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.5
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• pp.93-99
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• 1998

Although laser interferometer measurement system has advantages of measurement range and accuracy, it has some disadvantages when measurement of multi degrees of freedom of motion are required. Because the traditional error measurement methods for geometric errors (two straightness and three angular errors) of a slide of machine tools measures error components one at a time. It may also create an optical path difference and affect the measurement accuracy. In order to identify and compensate for geometric errors of a moving rigid body in real time processes, an on-line error measurement system for simultaneous detection of the five error components of a moving object is required. Using laser alignment technique and some optoelectronic components, an on-line measurement system with 5 degrees of freedom was developed for the geometric error detection in this study Performance verification of the system has been performed on an error generating mechanism. Experimental results show the feasibility of this system for identifying geometric errors of a slide of machine tools.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.855-859
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• 2004

We develop a new four-node flat shell element which is accurate, efficient, and suitable to be used on general purpose. The new element has a hybrid Trefftz element with drilling degrees of freedom as a membrane part. We define the two independent displacement field: the internal displacement field that satisfies governing equations in the domain a priori and the boundary displacement field that is usually used as a conventional finite element method. The hybrid Trefftz variational formulation connects these two displacement fields on the boundary of the domain. To add drilling degrees of freedom, we introduce the Allman's quadratic displacement field to the boundary displacement field. As a result, our flat shell element has 6 degrees of freedom per a node. We also use the well-known DKMQ plate bending element for the plate part of the proposed element. The DKMQ element satisfies Mindlin-Reissner‘s plate theory along the edge of the element and gives proper behavior regardless of the thickness. A series of numerical experiments shows that the performance of the new element such as accuracy, rate of convergence, robustness to mesh quality, and so on.

• The Journal of Korea Robotics Society
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• v.13 no.2
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• pp.92-96
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• 2018

In this paper, a soft robotic arm which can prevent impact injury during human-robot interaction is introduced. Two degrees of freedom joint are required to realize free movement of the robotic arm. A robotic joint concept with a single degree of freedom is presented using simple inflatable elements, and then extended to form a robotic joint with two degrees of freedom joint using similar manufacturing methods. The robotic joint with a single degree of freedom has a joint angle of $0^{\circ}$ bending angle when both chamber are inflated at equal pressures and maximum bending angles of $28.4^{\circ}$ and $27.1^{\circ}$ when a single chamber if inflated. The robotic joint with two degrees of freedom also has a bending angle of $0^{\circ}$ in both direction when all three chambers are inflated at equal pressures. When either one or two chambers were pressurized, the robotic joint performed bending towards the uninflated chambers.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.781-786
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• 1996

In this paper, output precision characteristic of planar 3 and 6 degree-of-freedom parallel mechanisms are investigated. The 6 degree-of-freedom mechanism is formed by adding an additional small link along with an actuated joint in each of serial subchain of the 3 degree-of-freedom mechanism. First, kinematic analysis for two parallel mechanisms are performed, then their first-order kinematic characteristics are examined via isotropic index and minimum velocity transmission ratio of the mechanisms. It can be concluded that the planar 6 degrees-of-freedom parallel mechanism can be very effectively employed as a high-precision macro-micro manipulator from the analysis results when its link lengths are properly chosen.

• Journal of Magnetics
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• v.15 no.1
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• pp.36-39
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• 2010

The multi-degrees of freedom surface permanent-magnet motor (Multi-D.O.F. SPM) has several degrees of freedom operations that are defined as the "roll", "yaw", and "pitch". Normally, the torque that is generated to rotate a rotor includes ripples. The analysis of the torque ripples is important for improving motor performance. In terms of the electric analysis, torque ripple occurs as a result of many factors, including the rotor and stator structures, the distribution of the air-gap flux density, and the waveform of the current in the coils. In particular, the torque ripple is an important factor in the stable operation of the Multi-D.O.F. SPM. Therefore, in this work, the torque ripple was analyzed using various types of magnetization for the permanent magnet. An improved model was proposed for the Multi-D.O.F. SPM based on this analysis.

• Architectural research
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• v.10 no.2
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• pp.21-26
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• 2008

The number of measured degrees of freedom for detecting the damage of any structures is usually less than the number of model degrees of freedom. It is necessary to expand the measured data to full set of model degrees of freedom for updating modal data. This study presents the expansion methods to estimate all static displacements and dynamic modal data of finite element model from the measured data. The static and dynamic methods are derived by minimizing the variation of the potential energy and the Gauss's function, respectively. The applications illustrate the validity of the proposed methods. It is observed that the numerical results obtained by the static approach correspond with the Guyan condensation method and the derived static and dynamic approaches provide the fundamental idea for damage detection.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 1998.06b
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• pp.41-44
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• 1998

In this paper, a new method of obtaining specular surface shape by using five degrees of freedom camera system is described. The normal vectors of the surface are extracted by achieving the coincident between the camera axis and the surface normal vector. This method uses a five degrees of freedom (5DOF) camera to fulfill this task. From the normal vector data, the shape of the surface is reconstructed. The result shows that the methodology improves the 3-D shape of object measurement with good accuracy.

• Transactions of the Korean Society of Automotive Engineers
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• v.13 no.4
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• pp.105-112
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• 2005

Analyses of dynamic models which were one and two degrees of freedom, and had the nonlinear springs and dampings with certain polynomial functions were performed from SIMULINK in MATLAB. Those consisted of 12 programs and were built on the basis of the preceding programs fur the linear dynamic simulations. However the programs for the nonlinear simulations were quite different from those f3r the linear ones, and showed the results of the analyses in real time with animating. It was found that the programs would help us to solve any kind of nonlinear dynamic simulation with one and two degrees of freedom. Especially, the simulations for 1 DOF system with cubic nonlinear spring farce showed the results for Duffing's equation, of which phenomena were jump-up and jump-down. It will be applied to the dynamic simulation of the car seat vibration with a passenger, of which model has the equivalent nonlinear springs and is two degrees of freedom.