• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1824-1827
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• 1997

Majority of industrial robots are controlled by a simple joint servo control of joint actuators. In this type of control, the performance of control is influenced greatly by the joint interaction torques including Coriolis and centrifugal forces, which act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increases, and makes the high speed-high precision control more difficult to achieve. In this paper, the joint disturbance torque of robots is analyzed. The joint disturbance torque is defined using the coefficients of dynamic equation of motion, and for the case of a 2DOF planar robot, the conditions for the maximum joint disturbance torques are identified, and the effect of link parameters and joint variables on the joint disturbance torque are examined. Then, a solutioin to the optimal path placement problem is proposed that minimizes the joint disturbance torque are examined. then, a solution to the optimal path placement problem is proposed that minimizes the joint disturbance torque during a straight line motion. the proposed method is illustrated using computer simulation. the proposed solution method cna be applied to the class of robots that are controlled by independent joint sevo control, which includes the vast majority of industrial robots. By minimizing the joint disturbacne torque during the motion, the simple joint servo controlled robot can move with improved path tracking accuracy at high speed.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.3
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• pp.342-348
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• 1998

A majority of industrial robots are controlled by a simple joint servo control of joint actuators. In this type of control, the performance of control is greatly influenced by the joint interaction torques including Coriolis and centrifugal forces, which act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increases, and hence makes the high speed - high precision control more difficult to achieve. In this paper, the joint disturbance torque of robots is analyzed. The joint disturbance torque is defined using the coefficients of dynamic equation of motion, and for the case of a 2 DOF planar robot, the conditions for the minimum and maximum joint disturbance torques are identified, and the effect of link parameters and joint variables on the joint disturbance torque are examined. Then, a solution to the optimal path placement problem is propose that minimizes the joint disturbance torque during a straight line motion. The proposed method is illustrated using computer simulation. The proposed solution method can be applied to a class of robots that are controlled by independent joint servo control, which includes the vast majority of industrial robots.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.315-316
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• 2012

• Journal of the Korean Society for Precision Engineering
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• v.29 no.9
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• pp.986-994
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• 2012

This paper is concerned with the application of the vision control algorithm with weighting matrix in robot point placement task. The proposed vision control algorithm involves four models, which are the robot kinematic model, vision system model, the parameter estimation scheme and robot joint angle estimation scheme. This proposed algorithm is to make the robot move actively, even if relative position between camera and robot, and camera's focal length are unknown. The parameter estimation scheme and joint angle estimation scheme in this proposed algorithm have form of nonlinear equation. In particular, the joint angle estimation model includes several restrictive conditions. For this study, the weighting matrix which gave various weighting near the target was applied to the parameter estimation scheme. Then, this study is to investigate how this change of the weighting matrix will affect the presented vision control algorithm. Finally, the effect of the weighting matrix of robot vision control algorithm is demonstrated experimentally by performing the robot point placement.

• Journal of Industrial Technology
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• v.18
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• pp.289-293
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• 1998

In a independent joint servo control of robots, the performance of the control is influenced greatly by the joint interaction torques including Coriolis and centrifugal forces. These act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increase, and makes the high speed - high precision control more difficult to achieve. In this paper, a solution to the optimal path placement problem is presented that minimizes the joint disturbance torque during a straight line motion. The proposed method is illustrated using computer simulation. The proposed solution method can be applied to the class of robots that are controlled by independent joint servo control, which includes the vast majority of industrial robots.

• International Journal of Highway Engineering
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• v.9 no.2 s.32
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• pp.101-114
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• 2007

Dowel bars in the jointed concrete pavement are used to both provide load transfer across pavements joints and prevent the joint faulting leading to longer service life. On the contrary, the misplacement of dowel bar can provide negative results including the joint freezing(locking) that may cause the joint spatting and unexpected mid-slab cracking. The dowel bar can be placed using the assembly or dowel bar inserter (DBI) during the concrete pavement construction. In the domestic practice of the concrete pavement construction, the dowel bar is placed using the assembly method. This study primarily focuses on the comparison of these two dowel placement methods using the field data from the KHC test road in which both dowel placement methods have been applied to a certain length of the concrete pavement. The field data regarding the alignment of the dowel bars placed by both methods was collected using MIT-SCAN2, a nondestructive measuring equipment, and processed to compute Joint Score and Running Ave. Joint Score which are used as indicators of the dowel bar performance. The comparison of the methods for the dowel bar placement using these indicators shows that the DBI method provided much better alignment of the dowel bars reducing the risk of joint freezing than the assembly method. In order to improve the quality of the dowel bar placement using the assembly method, the current weak points of the assembly method including the fabrication, storage, and installation of dowel bar assembly were investigated and the solution was suggested. The improved dowel bar sets based on the suggested solution have been applied to an actual practice of the concrete pavement construction. The field data shows that the improved assembly method suggested in this study can highly reduce the risk of joint freezing.

• The Korean Journal of Applied Statistics
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• v.30 no.6
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• pp.931-941
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• 2017

Typical Nonparametric methods for randomized block design with replications are two methods proposed by Mack (1981) and Mack and Skillings (1980). This method is likely to cause information loss because it uses the average of repeated observations instead of each repeated observation in the processing of each block. In order to compensate for this, we proposed a test method using linear placement statistics, which is a score function applied to the joint placement method proposed by Chung and Kim (2007). Monte Carlo simulation study is adapted to compare the power with previous methods.

• Communications for Statistical Applications and Methods
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• v.19 no.5
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• pp.721-729
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• 2012

Various methods control the influence of a covariate on a response variable. These methods are analysis of covariance(ANCOVA), RANK ANCOVA, ANOVA of (covariate-adjusted) residuals, and Kruskal-Wallis tests on residuals. Covariate-adjusted residuals are obtained from the overall regression line fit to the entire data set that ignore the treatment levels or factors. It is demonstrated that the methods on covariate-adjusted residuals are only appropriate when the regression lines are parallel and covariate means are equal for all treatments. In this paper, we proposed the new nonparametric method on the ANCOVA model, as applying joint placement in a one-way layout on residuals as described in Chung and Kim (2007). A Monte Carlo simulation study is adapted to compare the power of the proposed procedure with those of the previous procedure.

• The Korean Journal of Applied Statistics
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• v.30 no.2
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• pp.291-299
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• 2017

Mack and Skillings (1980) proposed nonparametric procedures in a randomized block design with replications as general alternatives. This method is used to find the difference in the treatment effect; however, it can cause a loss of inter block information using the ranking in each block. In this paper, we proposed new nonparametric procedures in a randomized block design with replications using an aligned method proposed by Hodges and Lehmann (1962) that used information of blocks and based on the joint placement suggest by Chung and Kim (2008). We also compared the power of the test of the proposed procedures and established a method through Monte Carlo simulation.

• Journal of the Korea Institute of Building Construction
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• v.1 no.2
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• pp.191-195
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• 2001

When top down method is used, it could be a construction method trouble in column joint, between the former concrete and the latter. It could bring a void and weak concrete in column. The purpose of this study is finding a way to prevent concrete void and concrete suitable for top down , through V-metering for top down column and concrete experiment. To minimize the void of reverse placement joint, It is more effect to use the sheath method then direct method in concrete placement.