• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.408-411
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• 1995

In this paper, we discuss the force control of flexible manipulators. Since the force control of flexible manipulators with planar one or two links using the distributed-parameter modeling has been the subject of a considerable number of publications until now, real time computations of the force control schemes are possible. But, application of those control schemes to multi-link spatial manipulators is fairly complicated. In this paper, we apply a concise hybrid position/force control scheme for a flexible manipulators. We use a lumped-parameter modeling for the flexible manipulators. The Hamilton's principle is applied to derive the equations of motion for the system and then, state-space model is obtained by the Lagrange's method. Finally, comparison of simulation results with experimental results is given to show the performance of our method.

• Nuclear Engineering and Technology
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• v.52 no.3
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• pp.654-659
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• 2020

The reliability of the spent fuel pool instrument is very important for the security of nuclear power plant, especially during the earthquake. The effect of the fluid force on the vibration characteristics of the flexible tube of the spent fuel pool instrument needs comprehensive analysis. In this paper, based on the potential flow theory, the hydrodynamic pressures acting on the flexible tube were obtained. A mathematical model of a flexible tube was constructed to obtain the dynamic response considering the effects of seismic load and fluid force, and a computer code was written. Based on the mathematical model and computer code, the maximum stresses of the flexible tube in both safe shutdown earthquake and operating basis earthquake events on the spent fuel pool with three typical water levels were calculated, respectively. The results show that the fluid force has an obvious effect on the stress and strain of the flexible tube in both safe shutdown earthquake and operating basis earthquake events.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.4
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• pp.107-112
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• 2005

In this study, the dynamic analysis is performed fur predicting the transmitted force to flexible human body induced by prototype HIF(High Impulsive force) device operation, which is partially assembled by major parts. A beam-mass model and a shear-structure model are used for the flexible mount structure and their dynamic behavior are investigated by experimental results under rigid/flexible mount conditions using a general purpose device. From the test result of prototype device in rigid mount condition, the transmitted force to human body which can not be measured directly, is estimated based on the proved mount structure model.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.7
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• pp.189-195
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• 2000

For free motions, vibration suppression of flexible manipulators has been one of the hottest research topics. However, for constrained motions, a little effort has been devoted for vibration suppression control. Using the dependency of elastic deflections of links on contact force under static conditions, vibrations for constrained planar two-link flexible manipulators have been suppressed successfully by controlling the contact force. However, for constrained spatial multi-link flexible manipulators, the vibrations cannot be suppressed by only controlling the contact force. So, the aim of this paper is to clarify the vibration mechanism of a constrained, multi-DOF, flexible manipulator and to devise the suppression method. We apply a concise hybrid position/force control scheme to control a flexible manipulator modeled by lumped-parameter modeling method. Finally, a comparison between simulation and experimental results is presented to show the performance of our method.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.10
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• pp.114-119
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• 2002

The aim of this paper is to clarify the structural compliance of the constrained flexible manipulator and to develop the force control algorithm by using the compliance of the links. The proposed structural compliance control consists of the position control to utilize a flexible manipulator model (considering the compensation for the elastic deflection of links) and the passive force control to utilize the rigid manipulator model (without considering the compensation for the elastic deflection of links). We present the experimental results for the case when applying the only position control, and when applying the structural compliance control. Finally, a comparison between these results is presented to show the performance of our method.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.1
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• pp.174-184
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• 1997

This paper presents a robust force tracking control of a smart flexible gripper featured by a piezoceramic actuator characterizing its durability and quick response time. A mathematical governing equation for the proposed gripper structure is derived by employing Hamilton's principle and a state space control model is subsequently obtained through model analysis. Uncertain system parameters such as frequency variation are included in the control model. A sliding mode control theory which has inherent robustness to the sys- tem uncertainties is adopted to design a force tracking controller for the piezoceramic actuator. Using out- put information from the tip force sensor, a full-order observer is constructed to estimate state variables of the system. Force tracking performances for desired trajectories represented by sinusoidal and step func- tions are evaluated by undertaking both simulation and experimental works. In addition, in order to illustrate practical feasibility of the proposed method, a two-fingered gripper is constructed and its performance is demonstrated by showing a capability of holding an object.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.8
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• pp.79-86
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• 2001

A method for actively minimizing dynamic reaction forces in a flexible structure subject to persistent excitations is presented. One difficulty with the method, however, is that forces and moments do not converge as quickly as displacements in mathematical discretization of continuous systems, so a controller based on a truncated model of a continuous system can produce poor results. A technique using residual flexibility matrix is presented for correcting the truncated force representation. A controller designed for reaction force minimization, using the residual flexibility matrix, is applied to a model of a flexible structure, and the results are presented. Implications of various reaction force penalty combinations on the resulting control performance are also discussed.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.6
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• pp.448-457
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• 2013

This paper presents the design of an active flutter suppression system for flexible wing using sliding mode control method. The aerodynamic force generated by the motion of a flexible wing control surface is utilized as control force. For this purpose, aeroservoelastic model is formulated by blending aeroelastic model, control surface actuator model, and gust model. A sliding mode controller is designed for active flutter suppression on the aeroservoelastic model in conjunction with Kalman filter that estimates the system states based on the measured output. The performance of the designed controller is demonstrated via numerical simulation for the representative flexible wing model.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.5
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• pp.645-652
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• 2010

For free motions, vibration suppression of single flexible manipulators has been one of the hottest research topics. However, for cooperative motions of multiple flexible manipulators, a little effort has been devoted for the vibration suppression control. So, the aim of this paper is to develop a hybrid force/position control and vibration suppression control scheme for multiple cooperation flexible manipulators handling a rigid object. In order to clarify the discussion, the motions of dual-arm experimental flexible manipulator are considered. Using the developed model, we control a robotic system with hybrid position/force control scheme. Finally, Experiments are performed, and a comparison of experimental results is given to clarify the validity of our control scheme.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.788-793
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• 1997

The surface,generated by end milling operation, is deteriorated by tool runout,vibration,friction,tool deflection, etc. In many source,deflection of tool affects to surfave accuracy. To develop a surface accracy model,method for the prediction of the topography of machined surfaces has been developed based on models of machine tool kinematics and cutting tool geometry. This model accounts for not only the ideal geometrical surface, but also the deflection of tool resulted in cutting force. For the more accurate prediction of cutting force,flexible end mill model is used to simulate cutting process. Compute simu;ation have shown the feasibility of the surface generation system.