• 로봇학회논문지
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• 제12권1호
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• pp.1-10
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• 2017

For dismantling heavy structure under special environment in radioactivity, there are many problems which should be tele-operated and feedback a cutting force for cutting a thick structure such as concrete. When operator dismantles a thick heavy concrete structure, it is in sufficient to judge whether robot is contacting or not with environment by using only vision information. To overcome this problem, force feedback and impedance model based bilateral control are introduced. The sliding mode control with sliding perturbation observer (SMCSPO) based bilateral control is applied and surveyed to a single rod hydraulic cylinder in this paper. The sliding mode control is used for robustness against a disturbance. The sliding perturbation observer is used for estimation of a reaction force such as cutting force. The bilateral control is executed using the information of reaction force estimated by SMCSPO. The contribution of this paper is that the estimation method and bilateral control of the single rod hydraulic cylinder are introduced and discussed by experiment.

• Steel and Composite Structures
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• 제29권2호
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• pp.175-186
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• 2018

The plastic hinge method and the plastic zone method are extensively adopted in displacement-based elements and force-based elements respectively for second-order inelastic analysis. The former enhances the computational efficiency with relatively less accurate results while the latter precisely predicts the structural behavior but generally requires more computer time. The displacement-based elements receive criticism mainly on plasticity dominated problems not only in accuracy but also in longer computer time to redistribute the forces due to formation of plastic hinges. The multi-element-per-member model relieves this problem to some extent but will induce a new problem in modeling of member initial imperfections required in design codes for direct analysis. On the contrary, a force-based element with several integration points is sufficient for material yielding. However, use of more integration points or elements associated with fiber section reduces computational efficiency. In this paper, a new force-based element equipped with stress-resultant plasticity model with minimal computational cost is proposed for second-order inelastic analysis. This element is able to take the member initial bowing into account such that one-element-per-member model is adequate and complied with the codified requirements of direct analysis. This innovative solution is new and practical for routine design. Finally, several examples demonstrate the validity and accuracy of the proposed method.

• 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.24.2-27
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• 1996

This paper is a study on the fuzzy force control of a miniature gripper driven by piezoelectric bimorph actuator. The system is composed of two flexible cantilevers, a stepping motor, a laser displacement transducer and two semiconductor force sensors attached to the beams. Obtained results show that the present artificial finger system works well as a miniature gripper, which produces approximately 0.06N force in the maximum. Further, the fuzzy position/force control algorithm is applied to the soft-handing gripper for stable grasping of a object. It revealed that the fuzzy rule-based controller be efficient controller for the stable drive of the flexible miniature gripper. It also showed that two semiconductor strain gauges located in the flexible beam play an important roles for force control, position control and vibration suppression control.

• 로봇학회논문지
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• 제12권3호
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• pp.356-364
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• 2017

This paper presents a force control based on the observer without taking any force or torque measurement from the robot which allows realizing more stable and robust human robot interaction for the developed multi-functional upper limb rehabilitation robot. The robot has four functional training modes which can be classified by the human robot interaction types: passive, active, assistive, and resistive mode. The proposed observer consists of internal disturbance observer and external force observer for distinctive performance evaluation. Since four training modes can be quantitatively identified as impedance variation, position-based impedance control with feedback and feedforward controller was applied to the assistive training mode. The results showed that the proposed sensorless observer estimated cleaner and more accurate force compared to the force sensor and the impedance controller embedded with the proposed observer completed the assistive training mode safely and properly.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 추계학술대회논문집
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• pp.344-347
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• 2007

In this paper, the stability of a cracked cantilever beam subjected to follower force is presented. In addition, an analysis of the flutter instability(flutter critical follower force) of a cracked cantilever beam subjected to a follower compressive load is presented. Based on the Timoshenko beam theory. The vibration analysis on such cracked beam is conducted to identify the critical follower force for flutter instability based on the variation of the first two resonant frequencies of the beam. Besides, the effect of the crack's intensity and location on the flutter follower force is studied. The crack section is represented by a local flexibility matrix connecting two undamaged beam segments. The crack is assumed to be in the first mode of fracture and to be always opened during the vibrations. Generally, the critical follower force for flutter is proportional to the crack depth.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1513-1518
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• 1996

A force reflecting hand controller can be used to provide more realistic information to the operator of a teleoperation system such as kinesthetic feedback from a slave robot. In this paper, a new design concept of a force reflecting 6-DOF hand controller utilizing the kinematic structure of a Stewart Platform is presented. Based on the optimal design technique of a Stewart Platform, a force reflecting hand controller has been designed and constructed to verify the technical feasibility of proposed design concept. In order to provide an operator with kinesthetic feedback information, a force mapping algorithm based on a reciprocal product of screws has been introduced. Finally, the technical feasibility of the design concept has been demonstrated through some of experimental results of the device under virtual environment on a real-time graphic system.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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• pp.393-397
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• 1996

A stewart platform-based force/torque sensor with 6 elastic legs was designed and manufactured Kinematic design parameters were determined so that the force/torque sensor might have the isotropic force/torque properities. In a force/torque analysis, it was used the solution of forward kinematics by linearization of the solution of the inverse kinematics. The performance of te force/torque sensor was investigated by measurement experiments. The gravity compensation was conducted to reduce the force and torque effects by the weights of the upper plate, joints and other sensor parts.

• 한국CDE학회논문집
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• 제4권1호
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• pp.12-18
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• 1999

A deformable non-Uniform Rational B-Spline (NURBS) based volume is programed for the force reflecting exoskeleton haptic device. In this work, a direct free form deformation (DFFD) technique is applied for the realistic manipulation. In order to implement the real-time deformation, a nodal mapping technique is used to connect points on the virtual object with the NURBS volume. This geometric modeling technique is ideally incorporated with the force reflecting haptic device as a virtual interface. The results in this work introduce details for the complete set-up for the realistic virtual clay modeling task with force feedback. The force reflecting exoskeleton haptic manipulator, coupled with a supporting PUMA 560 manipulator and the virtual clay model are integrated with the graphics display, and results show that the force feedback from the realistic physically based virtual environment can greately enhance the sense of immersion.

• Structural Engineering and Mechanics
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• 제48권6호
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• pp.809-822
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• 2013

Base isolation is widely used in seismic resisting buildings due to its low construction cost, high reliability, mature theory and convenient usage. However, it is difficult to design the isolation layer in high-rise buildings using the available bearings because high-rise buildings are characterized with long period, low horizontal stiffness, and complex re-distribution of the internal forces under earthquake loads etc. In this paper, a simple and innovative isolation bearing, named Teflon-based lead rubber isolation bearing, is developed to address the mentioned problems. The Teflon-based lead rubber isolation bearing consists of friction material and lead rubber isolation bearing. Hence, it integrates advantages of friction bearings and lead rubber isolation bearings so that improves the stability of base isolation system. An experimental study was conducted to validate the effectiveness of this new bearing. The effects of vertical loading, displacement amplitude and loading frequency on the force-displacement relationship and energy dissipation capacity of the Teflon-based lead rubber isolation bearing were studied. An analytical model was also proposed to predict the force-displacement relationship of the new bearing. Comparison of analytical and experimental results showed that the analytical model can accurately predict the force-displacement relationship and elastic shear deflection of the Teflon-based lead rubber isolation bearings.

• 한국국방경영분석학회지
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• 제27권2호
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• pp.88-109
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• 2001

Defense minister of the ROK, Kim Bong-sin suggested that the ROK′s military build-up policy will change from "scenario-based" to "capability-based". Entering the 1990s the ROK′s military build-up policy met difficulties to accomplish its goal, modernizing and strengthening of its force structure and weapon systems because of limited budget. The concept of capability-based military build-up could commit a fault in estimating total amount of defense resources required for force planing. This is because that the total amount of defense resources related to force plan for the 15 years is fixed to embody military strategy. The concept of capability-based military build-up plays a role as a constraint in choosing a military strategy. This has no connection with military build-up. Therefore the resources of mid-term military build-up program and scale of annual defense budget could be affected by the situations of its national economy. In this respect, the scale of annual defense budget and resources could be changed in accordance with national economic condition, however, the total amount of resources required to build-up military force for 15 years, namely resources of military force planing requirement for 15 years, is given already for the accomplishment of military strategy. The purpose of this study is to seek a direction of the ROK′s military build-up policy in a viewpoint of capability-based military build-up.