• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.7-11
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• 1991

The adaptive control of flexible joint manipulator is the focus of this paper. The full order flexible joint manipulator dynamic system does not allow the determination of a feedback linearization control as for rigid manipulators. This drawback is overcome by a model order reduction based on a singular perturbation strategy. The full order flexible joint manipulator dynamic model is adopted for derivation of the adaptive control law to damp out the elastic oscillations at the joints. It is shown that the joint position error will converge to zero asymptotically and that other signals remain bounded without precise knowledge of parameters of the manipulator and its joint flexibility.

• Structural Engineering and Mechanics
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• 제62권5호
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• pp.619-629
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• 2017

This paper focuses on the study of complete dynamic modeling and maximum dynamic load carrying capacity computation of N-flexible links and N-flexible joints mobile manipulator undergoing large deformation. Nonlinear dynamic analysis relies on the Timoshenko theory of beams. In order to model the system completely and precisely, structural and joint flexibility, nonlinear strain-displacement relationship, payload, and non-holonomic constraints will be considered to. A finite element solution method based on mixed method is applied to model the shear deformation. This procedure is considerably more involved than displacement based element and shear deformation can be readily included without inducing the shear locking in the element. Another goal of this paper is to present a computational procedure for determination of the maximum dynamic load of geometrically nonlinear manipulators with structural and joint flexibility. An effective measure named as Moment-Height Stability (MHS) measure is applied to consider the dynamic stability of a wheeled mobile manipulator. Simulations are performed for mobile base manipulator with two flexible links and joints. The results represent that dynamic stability constraint is sensitive when calculating the maximum carrying load. Furthermore, by changing the trajectory of end effector, allowable load also changes. The effect of torsional spring parameter on the joint deformation is investigated in a parametric sensitivity study. The findings show that, by the increase of torsional stiffness, the behavior of system approaches to a system with rigid joints and allowable load of robot is also enhanced. A comparison is also made between the results obtained from small and large deformation models. Fluctuation range in obtained figures for angular displacement of links and end effector path is bigger for large deformation model. Experimental results are also provided to validate the theoretical model and these have good agreement with the simulated results.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.405-408
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• 1996

Several papers have already been reported on the flexible manipulator with constant arm length. Some of industrial manipulators, however, have sliding joints. It means that the length of their arm or link varies with time. This paper discusses the trajectory contro lof such a manipulator model, and shows some of the experimental results.

• Journal of Korean Neurosurgical Society
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• 제37권5호
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• pp.364-369
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• 2005

Objective: Spinal instrumentation without fusion often fails due to biological failure of intervertebral joints (spontaneous fusion, degeneration, etc). The purpose of this study is to investigate the influence of fixation rigidity on viability of intervertebral joints. Methods: Twenty pigs in growing period were subjected to posterior segmental fixation. Twelve were fixed with a rigid fixation system(RF) while eight were fixed with a flexible unconstrained implant(FF). At the time of the surgery, a scoliosis was created to monitor fixation adequacy. The pigs were subjected to periodic radiological examinations and 12pigs (six in RF, six in FF) were euthanized at 12-18months postoperatively for analysis. Results: The initial scoliotic curve was reduced from $31{\pm}5^{\circ}$ to $27{\pm}8^{\circ}$ in RF group (p=0.37) and from $19{\pm}4^{\circ}$ to $17{\pm}5^{\circ}$ in FF group (p=0.21). Although severe disc degeneration and spontaneous fusion of facet joints were observed in RF group, disc heights of FF group were well maintained without major signs of degeneration. Conclusion: The viability of the intervertebral joints depends on motion spinal fixation. Systems allowing intervertebral micromotion may preserve the viability of intervertebral discs and the facet joint articular cartilages while maintaining a reasonably stable fixation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1992년도 하계학술대회 논문집 A
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• pp.391-393
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• 1992

This paper proposes an adaptive control system using a 80286 microprocessor-based system and DC servo motors for the control of flexible joint manipulator. In this paper, we construct the controller based on a singular perturbation strategy damping out the elastic oscillations at the joints. we added to the controller the compensator for damping the joint and the term for decreasing the position error between the actuator and the link in order to improve the asymptotical convergence of the position of the link. It is shown that the implementation of this control algorithm can be practical.

• 한국구조물진단유지관리공학회 논문집
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• 제5권4호
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• pp.139-146
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• 2001

Res system, with Reinforced Concrete columns and Steel beams, is defined as system in which both steel and concrete materials are efficiently combined to maximize the structural and economic advantages of each material. Tested in this study were 4 exterior beam-to-column joint specimens with variables that influence joint rigidity of RCS structure. The purpose of this study is to compare and analyze the structural behavior of exterior joints through the existing studies and tests, and offer basic data for practical use of RCS structure by studying flexible behavior(semi-rigid effect) of joints according to joint details.

• 한국구조물진단유지관리공학회 논문집
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• 제28권3호
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• pp.91-99
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• 2024

배관시스템은 다양한 산업 분야에서 이용되는 중요한 설비이며 생활 및 안전과 관련된 영역에서 사용되고 있다. 배관시스템은 건축물 및 시설의 주요 구조부에 고정되어 있으나 외부 하중을 지지하지 않으며 주어진 고유기능을 수행하는 비구조요소이다. 지진하중으로 인한 배관시스템은 두 지지점 사이의 서로 다른 거동으로 발생하는 위상차로 인한 상대 변위의 영향을 받으며 변위 지배적인 반복거동 때문에 손상이 발생할 가능성이 있다. 배관시스템에서 피팅과 조인트는 지진하중에 취약한 대표적인 요소이다. 배관시스템의 피팅과 조인트에 대한 내진성능과 한계상태를 평가하고자 한다면 상대변위를 모사하기 위한 높은 스트로크를 가지는 엑츄에이터가 필요하나 실험을 수행할 수 있는 설비가 많지 않아 어려움이 있다. 따라서 피팅과 조인트로 연결된 배관시스템의 내진성능과 한계상태를 평가하기 위해서는 요소 단위의 실험이 필요하다. 이 연구에서는 수직배관시스템에서 지진하중에 취약한 요소인 피팅과 조인트를 포함하는 엘보 시험체에 대하여 내진성능을 평가하는 방법을 제시하였다. 엘보 시험체는 90° 배관 엘보의 양단에 직관부를 유동식 그루브 조인트를 이용하여 연결하였다. 엘보 시험체에 대하여 변형각에 기반을 둔 주기하중 프로토콜을 이용하여 내진성능을 평가하였다. 평가된 내진성능에 대한 여유도를 확인하기 위하여 일정한 진폭에 대한 주기하중을 적용하여 한계상태를 평가하였다.

• 제어로봇시스템학회논문지
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• 제12권4호
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• pp.371-379
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• 2006

Increasing requirements for the high quality of industrial robot performance made the vibration control issue very important because the vibration makes it difficult to achieve quick response of robot motion and may bring mechanical damage to the robot. This paper presents a vibration control solution for industrial robots which have flexible joints. The joint flexibility is modeled as a two-mass system. And we analyze the vibration problem of a classical P-PI controller when it used for the flexible joints of industrial robots. Then a state feedback controller is designed for vibration suppression of the two-mass system. Finally, a gain-scheduling method is designed for maintaining control performance in spite of the time-varying nature of each joint's load side inertia. Simulation and experimental results show effective vibration suppression and uniform properties in overshoot in spite of the variation of load. The result of this study can be applied to the appropriate gain manipulation of many other mechatronic devices which have the two-mass system with varying load side inertia.

• 제어로봇시스템학회논문지
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• 제14권9호
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• pp.886-892
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• 2008

In this paper, a closed-loop observer to extract the center of mass (CoM) of a bipedal robot is suggested. Comparing with the simple conversion method of just using joint angle measurements, it enables to get more reliable estimates by fusing both joint angle measurements and F/T sensor outputs at ankle joints. First, a nonlinear-type observer is constructed to estimate the flexible rotational motion of the biped in the extended Kalman filter framework. It adopts the flexible inverted pendulum model which is appropriate to address the flexible motion of bipeds, specifically in the single support phase. The predicted estimates of CoM in terms of the flexible motion observer are combined with measurements (that is, output of the CoM conversion equation with joint angles). Then, we have final CoM estimates depending on the weighting values which penalize the flexible motion model and the CoM conversion equation. Simulation results show the effectiveness of the proposed algorithm.

• International Journal of Precision Engineering and Manufacturing
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• 제6권4호
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• pp.21-25
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• 2005

In the dynamic analysis of a mechanism, if one or more of the components are flexible, then the simulation will not be accurate because of the violation of the rigid body assumption. Mode shapes are used to represent the dynamic behavior of an elastic structure. A modal synthesis method which uses a combination of normal modes, constraint modes, and attachment modes, was used to represent effectively the elastic deformation of a flexible multibody. Since the combination of these modes should be different for each type of connecting part, the modal synthesis method was studied for the various types of interconnecting joints. In addition, the analysis procedure for the flexible body was explained. A satellite system with flexible solar panels was chosen as an example to show the effectiveness of the proposed method.