• Journal of Institute of Control, Robotics and Systems
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• v.12 no.12
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• pp.1220-1230
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• 2006

In this paper, we propose a flew technique to the design and real-time control of an adaptive controller for robotic manipulator based on digital signal processors. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved Lyapunov second method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot manipulator with eight joints. joint space and cartesian space.

• Journal of the Ergonomics Society of Korea
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• v.20 no.3
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• pp.11-25
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• 2001

AS human movements have the inherent property of anticipating target and can be coordinated to realize a given schedule, finger movements have stereotyped patterns during hand grasping. Finger movements have been studied in the past to find out the coordination pattern of hand joint angular movement. These studies analyzed only a few finger joints for a limited number of hand postures. This study investigated fourteen joint angles during eight hand-grasping motions to analyze the angular correlations between finger joints and to suggest motion factors which represent hand grasping. Hand grasping motions including forward arm motion were examined in ten healthy volunteers. Eight objects were used to represent real hand grasping tasks. $CyberGlove^{TM}$ and $Fasreack^{TM}$ measured hand joint angles and wrist origin. Joint angle correlations between PIJ(proximal interphalangeal joint) and MPJ(metacarpophalangeal joint) at one finger, between neighboring PIJs and MPJs were four factors related to the fast phase of hand grasping motions and eight factors related to the slow phase of hand grasping motions.

• Proceedings of the KWS Conference
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• 2001.10a
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• pp.281-284
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• 2001

Fatigue behaviour of eight different hollow section T-joints was investigated experimentally using scaled steel models. The joints had circular brace members and rectangular chords (CRHS). Hot spot stresses and the stress concentration factors (SCFs) were determined experimentally. Fatigue testing was carried out under constant amplitude loading in air. The experimental SCF values for CRHS joints were found to be between those of circular-to-circular (CCHS) and rectangular-to-rectangular (RRHS) hollow section joints. The fatigue strength referred to experimental hot spot stress was in reasonably good agreement with current fatigue design codes for tubular joints.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.4
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• pp.183-189
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• 2018

The focus of this paper is to design and control a three fingered hand system with eight axes for smart factory with an flexible controller, and to keep a useful big database for dynamic manipulation based on the experimental results. The weight of the hand module is only 1.2 kg, but flexible motion and powerful grasping are possible. To achieve such a flexible motion control of a robotic hand, we have developed a robust and precise fingered hand with a control system incorporating image recognition system in which we deal with the problems of not only accuracy and range of motion but also the flexibility of hand. The fingers are arranged so as to grasp both circular and prismatic objects. In order to achieve the light mechanism, we reduced the number of joints and fingers as much as possible. In this study, it was used three fingers with eight axes which is the optimal number to achieve a robust grasping diverse shape parts for smart factory.

• Computers and Concrete
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• v.10 no.5
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• pp.469-487
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• 2012

This paper presents a study on the behaviour of the joints of segmental concrete bridges with external prestressing, focusing on the structural response of dry non-epoxied joints with shear keys. A Finite Element joint model to study such structures is validated modelling eight concrete panel tests. The most important feature of this model is that it has been validated with experimental tests on concrete panels which were specifically designed to fail in shear. Interface elements are used to reproduce the non linear behaviour of the joint and parameters deduced from the tests are used to define the constitutive law of these elements. This joint model is of great importance because it will permit the development of a structural model that faithfully reproduces the behaviour of these structures under combined flexure and shear and the study of its global behaviour after the opening of the joints. Interesting conclusions about the behaviour of the dry joints, about the contribution of the different mechanisms transferring shear (friction and cohesion) and about the shear stress distribution in the joint have been reached.

• Steel and Composite Structures
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• v.4 no.2
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• pp.149-167
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• 2004

Offshore platforms have to serve in harsh environments and hence are likely to be damaged due to wave induced fatigue and environmental corrosion. Welded tubular joints in offshore platforms are most vulnerable to fatigue damage. Such damages endanger the integrity of the structure. Therefore it is all the more essential to assess the capacity of damaged structure from the point of view of its safety. Eight internally ring stiffened fatigue damaged tubular joints with nominal chord and brace diameter of 324 mm and 219 mm respectively and thickness 12 mm and 8 mm respectively were tested under axial brace compression loading to evaluate the reserve capacity of the joints. These joints had earlier been tested under fatigue loading under corrosive environments of synthetic sea water and hence they have been cracked. The extent of the damage varied from 35 to 50 per cent. One stiffened joint was also tested under axial brace tension loading. The residual strength of fatigue damaged stiffened joint tested under tension loading was observed to be less than one fourth of that tested under compression loading. It was observed in this experimental investigation that in the damaged condition, the joints possessed an in-built load-transfer mechanism. A bi-linear stress-strain model was developed in this investigation to predict the reserve capacity of the joint. This model considered the strain hardening effect. Close agreement was observed between the experimental and predicted results. The paper presents in detail the experimental investigation and the development of the analytical model to predict the reserve capacity of internally ring stiffened joints.

• Journal of the Korean Society of Industry Convergence
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• v.23 no.4_1
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• pp.549-558
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• 2020

We describe a new approach to real-time implementation of track record and trajectory control of robotic manipulator with eight joints based on monitoring simulator. Trajectory generator uses the kinematic equations of the arm to convert the task description into a series of set points for each of the joint control loops, while the joint controllers, with simple algorithms for just one joint can move at a fast sampling rate, guaranteeing a smooth motion. The proposed control scheme is robust, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate parameter information, nor values of manipulator parameters and payload. Reliability of the proposed technology is veriefied by monitoring simulation and experimental of robot manipulator for the smart factory with eight degrees of freedom.

• Structural Engineering and Mechanics
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• v.35 no.1
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• pp.99-117
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• 2010

Beam-column joints are the key structural elements, which dictate the behavior of structures subjected to earthquake loading. Though large experimental work has been conducted in the past, still various issues regarding the post-yield behavior, ductility and failure modes of the joints make it a highly important research topic. This paper presents experimental results obtained for eight beam-column joints of different sizes and configuration under cyclic loads along with the analytical evaluation of their response using a simple and effective analytical procedure based on nonlinear static pushover analysis. It is shown that even the simplified analysis can predict, to a good extent, the behavior of the joints by giving the important information on both strength and ductility of the joints and can even be used for prediction of failure modes. The results for four interior and four exterior joints are presented. One confined and one unconfined joint for each configuration were tested and analyzed. The experimental and analytical results are presented in the form of load-deflection. Analytical plots are compared with envelope of experimentally obtained hysteretic loops for the joints. The behavior of various joints under cyclic loads is carefully examined and presented. It is also shown that the procedure described can be effectively utilized to analytically gather the information on behavior of joints.

• Earthquakes and Structures
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• v.14 no.1
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• pp.73-84
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• 2018

Low cyclic loading tests are conducted on the steel reinforced recycled concrete (SRRC) column-steel (S) beam composite frame joints. This research aims to evaluate the earthquake damage performance of composite frame joints by performing cyclic loading tests on eight specimens. The experimental failure process and failure modes, load-displacement hysteresis curves, characteristic loads and displacements, and ductility of the composite frame joints are presented and analyzed, which shows that the composite frame joints demonstrate good seismic performance. On the basis of this finding, seismic damage performance is examined by using the maximum displacement, energy absorbed in the hysteresis loops and Park-Ang model. However, the result of this analysis is inconsistent with the test failure process. Therefore, this paper proposes a modified Park-Ang seismic damage model that is based on maximum deformation and cumulative energy dissipation, and corrected by combination coefficient ${\alpha}$. Meanwhile, the effects of recycled coarse aggregate (RCA) replacement percentage and axial compression ratio on the seismic damage performance are analyzed comprehensively. Moreover, lateral displacement angle is used as the quantification index of the seismic performance level of joints. Considering the experimental study, the seismic performance level of composite frame joints is divided into five classes of normal use, temporary use, repair after use, life safety and collapse prevention. On this basis, the corresponding relationships among seismic damage degrees, seismic performance level and quantitative index are also established in this paper. The conclusions can provide a reference for the seismic performance design of composite frame joints.

• Steel and Composite Structures
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• v.21 no.1
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• pp.137-156
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• 2016

Due to excellent advantages such as better illuminative effects, considerable material savings and ease and rapidness of construction, the bolted ball-cylinder joint which is a new type joint system has been proposed in space truss structures. In order to reveal more information and understanding on the behaviour of bolted ball-cylinder joints, full-scale experiments on eight bolted ball-cylinder joint specimens were conducted. Five joint specimens were subjected to axial compressive force, while another three joint specimens were subjected to axial tensile force. The parameters investigated herein were the outside diameter of hollow cylinders, the height of hollow cylinders, the thickness of hollow cylinders, ribbed stiffener and axial force. These joint specimens were collapsed by excessive deformation of hollow cylinders, punching damage of hollow cylinders, evulsion of bolts, and weld cracking. The strain distributions on the hollow cylinder opening were mainly controlled by bending moments. To improve the ultimate bearing capacity and axial stiffness of bolted ball-cylinder joints, two effective measures were developed: (1) the thickness of the hollow cylinder needed to be thicker; (2) the ribbed stiffener should be adopted. In addition, the axial stiffness of bolted ball-cylinder joints exhibited significant non-linear characteristics.