• 대한전기학회논문지:전력기술부문A
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• 제48권9호
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• pp.1140-1146
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• 1999

In this paper, a force estimation method is proposed for force control without force sensor. For this , a disturbance observer is applied to each joint of an {{{{ { n}_{ } }}}} degrees of freedom manipulator to obtain a simple equivalent robot dynamics(SERD) being represented as an n independent double integrator system. To estimate the output of disturbance observer due to internal torque, the disturbance observer output estimator(DOOE) is designed, where uncertain parameters of the robot manipulator are adjusted by the gradient method to minimize the performance index which is defined as the quadratic form of the error signal between the output of disturbance observer and that of DOOE. when the external force is exerted, the external force is estimated by the difference between the output of disturbance observer and DOOE, since output of disturbance observer includes the external torque signal as well as the internal torque estimated by the output of DOOE. And then, a force controller is designed for force feedback control employing the estimated force signal. To verify the effectiveness of the proposed force estimation method, several numerical examples and experimental results are illustrated for the 2-axis direct drive robot manipulator.

• 제어로봇시스템학회논문지
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• 제22권9호
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• pp.686-692
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• 2016

A Crimp Force Monitor (CFM) is equipment for detecting crimp errors by analyzing crimp signals obtained from force and strain sensors. The analysis is commonly performed by aligning a measured crimp signal with a reference signal and comparing their difference. Current analysis methods often suffer from wrong alignments that result in false negative detections. This paper presents a new crimp signal analysis method in CFM. First, a falling edge alignment is proposed that matches falling edges of the measured and the reference signals by minimizing the absolute difference summation. Second, a signal parameter error is introduced to evaluate the crimp quality difference between the measured signal and the reference. For calculating the signal parameter error, part of a signal is identified and divided into several regions to maximize the signal parameter errors. Experiments showed that the proposed method can improve the signal alignment and accurately detect bad crimps especially with the strain sensor.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2001년도 춘계학술대회 논문집(한국공작기계학회)
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• pp.192-196
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• 2001

This work describes the modeling of cutting process for feedback control based on signal processing in end-milling. Here, cutting force is used to design control model by a variety of schemes which are moving average, ensemble average, peak value, root mean square and analog low-pass filtering. It is expected that each model offers its own peculiar advantage in following cutting force control.

• 한국정밀공학회지
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• 제14권12호
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• pp.48-55
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• 1997

A useful method to detect tool breakage suing neural network of cutting force signal is porposed and implemented in a basic cutting process. Cutting signal is gathered by tool dynamometer and normalized as a preprocessing. The cutting force signal level is continually monitored and compared with the predefined level. The neural network has been trained normalized sample data of the normal operation and cata-strophic tool failure using backpropagation learning process. The develop[ed system is verified to be very effective in real-time usage with minor modification in conventional cutting processes.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1992년도 추계학술대회 논문집
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• pp.344-348
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• 1992

This paper presents a new methodology for on-line tool breakage detection by sensor fusion concept of an acoustic-emission (AE) sensor. A built-in piezoelectric force sensor was used to measure cutting force instead of a tool dynamometer to preserve the machine tool dynamics. he sensor was inserted in the tool turret housing of an NC lathe. FEM analysis was carried out to locate the most sensitive position for the sensor. When a tool is broken, the explicit changes of signals' pattern take place. A burst-type AE signal increases abruptly. Followingly, a cutting force drops significantly. Therefore a burst of AE signal is used as a triggering signal to inspect the following cutting force. Significant drop of cutting force is utilized to detect tool breakage. The algorithm was implemented in a DSP board for in-process tool breakage detection. The proposed monitoring system was capable of a good applicable tool breakage detection.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2003년도 추계학술대회논문집
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• pp.1038-1042
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• 2003

In order to evaluate dynamic impedance of a hand-arm system it is necessary to measure the hand-transmitted vibration and the reaction force at the same time while gripping the vibrating handle. In the study a device was developed to measure both the vibration and the force. The device consists of a measurement handle with four strain gauge and two accelerometers and a PC based control system with a program for the signal processing and evaluation of the hand-transmitted vibration and reaction force. The handle was installed on the vibration shaker so that it can move by the generated signal from the control system. As an application of the system dynamic reaction force and the frequency weighted acceleration at the handle attached to the shaker were measured at various grip force and feed force. This system will be very useful in the area of impedance measurement and the evaluation of performance of anti-vibration gloves.

• 전기학회논문지
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• 제56권3호
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• pp.632-640
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• 2007

The low force estimation method of skeletal muscle was proposed by using ICA(independent component analysis) and neuro-transmission model. An EMG decomposition is the procedure by which the signal is classified into its constituent MUAP(motor unit action potential). The force index of electromyography was due to the generation of MUAP. To estimate low force, current analysis technique, such as RMS(root mean square) and MAV(mean absolute value), have not been shown to provide direct measures of the number and timing of motoneurons firing or their firing frequencies, but are used due to lack of other options. In this paper, the method based on ICA and chemical signal transmission mechanism from neuron to muscle was proposed. The force generation model consists of two linear, first-order low pass filters separated by a static non-linearity. The model takes a modulated IPI(inter pulse interval) as input and produces isometric force as output. Both the step and random train were applied to the neuro-transmission model. As a results, the ICA has shown remarkable enhancement by finding a hidden MAUP from the original superimposed EMG signal and estimating accurate IPI. And the proposed estimation technique shows good agreements with the low force measured comparing with RMS and MAV method to the input patterns.

• 한국운동역학회지
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• 제17권1호
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• pp.129-134
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• 2007

The purpose of this study was to determine the variability of components of the vertical ground reaction force signal to seek the suitable number of attempt datum to be analyzed during running at 2m/s and 4m/s. For this study, six subjects (height mean:$174.5{\pm}4.4cm$, weight $671.5{\pm}116.4N.$, age:$25.0{\pm}yrs.$) were selected and asked to run at least 3 times each run condition randomly. FFT(fast Fourier transform) was used to analyze the frequency domain analysis of the vertical ground reaction forces signal and an accumulated PSD (power spectrum density) was calculated to reconstruct the certain signal. To examine the deviation of the vertical ground reaction between signals collected from an different number of attempt, variability of frequency, magnitude of passive peak, time up to the passive peak and maximum load rate were determined in a coefficient of variance. The variability analysis revealed that when analyze the vertical reaction force components at 2m/s speed running, which belongs to slow pace relatively, it would be good to calculate these components from signal of one attempt, but 4m/s speed running needs data collected from two attempts to decrease the deviation of signal between attempts. In summary, when analyzing the frequency and passive peak of the vertical reaction force signal during the fast run, it should be considered the number of attempt.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.803-806
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• 1997

In this paper, a force estimation method is proposed for the sensorless force control. For this, a disturbance observer is applied to each joint of an n degrees of freedom manipulator to obtain a simple equivalent robot dynamics(SERD) being represented as an n independent double integrator system. To estimate the output of disturbance observer in the absence of external force, the observer estimator is designed, where the uncertain parameters of the robot manipulator are adjusted by gradient method to minimize the output between the disturbance observer and the observer estimator. When the external force is exerted, the external force is estimated using the difference between the output of disturbance observer which include the external torque signal and that of observer estimator. And then, a force controller is designed for force feedback control employing the estimated force signal. To verify the effectiveness of the proposed force estimation method, several numerical examples are illustrated for the 2-axis planar type robot manipulator.

• 드라이브 ㆍ 컨트롤
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• 제13권3호
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• pp.47-52
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• 2016

This paper presents a control method for the performance improvement of a proportional solenoid actuator using a Pulse Width Modulation (PWM) signal. It is very difficult to obtain excellent response performance from a proportional solenoid actuator using a simple proportional controller with no PWM signal or dither because the mass and structure of a proportional solenoid actuator changes according to the application target, friction force in the proportional solenoid tube, operating force and displacement range. To solve the above problems, first, a controller with a PWM function for experimenting with attraction force characteristics was designed and manufactured. Secondly, an experimental setup for solenoid performance measurement with a force sensor and a displacement sensor was also manufactured. The attraction force characteristics according to the frequency and duty ratio variations of a PWM signal were tested and the relationships among the frequency, duty ratio, plunger mass and friction characteristics were analyzed. Finally, response characteristics improvements for proportional solenoid actuators are discussed.