• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.172-178
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• 1993

This paper deals with the modeling and experiment of a robot system for force/impact control performance. The basic model is composed of a direct drive motor, servo amplifier, link, force sensor and environments. Based on the developed model, the stability of the whole system was analyzed via root locus method. For the force control, integral force compensation with velocity feedback method shows the best performance of all the explicit force control strategies. In dealing with impact, PID position control and the explicit force control method were implemented. Instead of add more damping to the robot system by velocity feedback, we developed a new passive damping method and it was also applied to enhance the damping characteristic of the system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1179-1182
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• 2005

To facilitate the cell based robot research, we presented a micro-mechanical force measurement system for the biological muscle actuators, which utilize glucose as a power source for potential application in a human body or blood vessels. The system is composed of a micro-manipulator, a force transducer with a glass probe, a signal processor, an inverted microscope and video recoding system. Using this measurement system, the contractile force and frequency of the cardiac myocytes were measured in real time and the magnitude of the contractile force of each cardiac myocyte on a different condition was compared. From the quantitative experimental results, we estimated that the force of cardiac myocytes is about $20{\sim}40\;{\mu}$N, and showed that there is difference between the control cells and the micro-patterned cells.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2397-2401
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• 2005

It is well understood that force reflecting coupled with visual display can be an important two-way communication channel in human-computer interaction. In this work, important components for a high-fidelity system bandwidth are force reflecting device and that all the computations including contact determination and response computation have to be performed in less than a millisecond. This paper describes a force-reflecting device and an embedded controller. The realized force-reflecting device is based on a novel serial type mechanical structure, and features compactness, high sustained output force capability, low friction, zero backlash, and enough workspace. The embedded controller reduces software computational load via main processor and simplifies hardware strictures by the time-division control. The device is integrated with existing dynamic simulation algorithms running separate workstation, so that objects can be manipulated in real time and the corresponding forces felt back by the operator.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2001년도 춘계학술대회 논문집(한국공작기계학회)
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• pp.188-191
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• 2001

Generally, main factors of tool damage are cutting speed, feed rate and depth of cut. The increase of those factors can cause tool breakage or worsen product quality such as machining accuracy deterioration. Those three factors are concerned with cutting force. Cutting force reaches at its maximum value when cutter blade cuts away the object directly, and it is the time when tool damages are at high probability. In this study, we detect the maximum cutting force affecting tool damage and control the maximum cutting force based on the measured peak force.

• International Journal of Precision Engineering and Manufacturing
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• 제7권3호
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• pp.8-13
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• 2006

Plunge milling process is used for machining hole and is widely used in aerospace, automobile, and die/mold industries. The cutter is fed in the direction of spindle axis which has the highest structural rigidity. The kinematics of plunge milling differs from the traditional turning and milling in aspect of tool engagement and chip generation. This paper proposes the mechanistic cutting force model for plunge milling. Uncut chip thickness is calculated using the present cutter edge position and the previous cutter edge position. Instantaneous cutting force coefficients, which depend only on instantaneous uncut chip thickness, are derived based on the mechanistic approach. The developed cutting force model is verified through comparison of the predicted and the measured cutting forces.

• Journal of Welding and Joining
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• 제27권1호
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• pp.59-64
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• 2009

In order to determine the One-Drop One-Pulse(ODOP) condition of the pulsed gas metal arc(GMA) welding, the drop detaching phenomenon during the peak time is investigated using the force-displacement model. The drop detaching criterion is established based on the displacement of the pendant drop, and the forces exerted on the drop are calculated using the Modified Force Balance Model(MFBM). The effects of wire melting on the drop size and force are included in the force-displacement model. While the peak current has most significant effects on the drop detaching time, the initial drop mass prior to the peak time also influences drop transfer. The calculated results show good agreements with the experimental data, which implies that the ODOP condition can be predicted using the force-displacement method.

• Journal of Mechanical Science and Technology
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• 제20권5호
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• pp.668-674
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• 2006

In order to develop a cell based robot, we present a micro-mechanical force measurement system for the biological muscle actuators, which utilize glucose as a power source. The proposed measurement system is composed of a micro-manipulator, a force transducer with a glass probe, a signal processor, an inverted microscope and video recording system. Using this measurement system, the contractile force and frequency of the cardiac myocytes were measured in real time and the magnitudes of the contractile force of each cardiac myocyte under different conditions were compared. From the quantitative experimental results, we could estimate that the force of cardiac myocytes is about $20\sim40{\mu}N$, and show that there are differences between the control cells and the micro-patterned cells.

• Journal of Advanced Marine Engineering and Technology
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• 제22권2호
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• pp.232-240
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• 1998

This paper deals with a hybrid position/force control of a robot which is moving on the constrained object with constant force. The proposed controller is composed of a position and force controller. The position controller has a nonlinear compensator which is based on the dynamic robot model and the force controller is attached by feedforward element. A direct drive robot with hard nonlinearity which is controlled by the proposed algorithm has moved on the constrained object with a high stiffness and low stiffness. The results show that the proposed controller has more vibration suppression effects which is occurred to the constrained object with a high stiffness, than a existing feedback controller, and accurate force control can be obtained by comparatively a small feedback gain.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1500-1505
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• 2003

In order to avoid the unit inconsistency problem in the conventional Jacobian matrix, previously we presented new formulation of a dimensionally homogeneous inverse Jacobian matrix for parallel manipulators with a planar mobile platform by using three end-effector points based on the velocity relationship [1]. This paper presents force relationships between joint forces and Cartesian forces at the three End-Effector points. The derived force relationships can then be used for analyses of the input/output force transmission. These analyses, forward and inverse force transmission analyses, depend on the singular values of the derived dimensionally homogeneous Jacobian matrix. Using the proposed force relationship, a numerical example is presented for actuator size design of a 3-RRR planar parallel manipulator.

• 한국생산제조학회지
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• 제18권4호
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• pp.381-387
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• 2009

The end-milling force behaviour is very complex and it is related to a de-noising phenomenon, so it is very difficult to detect and diagnose this static cutting force phenomenon. This paper presents a new method of filtering of end-milling force in end-milling operation using filter bank technique, based on the wavelet transform. In this paper by comparing the history of end-milling force using wavelet filtering the fundamental end-milling property of the wavelet transform is well reviewed and analyzed. This result of wavelet transform using filter bank shows the possible static prediction of end-milling force with severe dynamic properties such as chatter in end-milling operation.