• Proceedings of the KSME Conference
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• 2004.04a
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• pp.881-886
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• 2004

This paper presents the inverse dynamic analysis of the wheel loader manipulator based on the experimental data. A three dimensional rigid multi-body model of the wheel loader manipulator was built up. The inverse dynamic analysis for the typical operation mode was carried out by the ADAMS program. In order to verify the analysis result with the measured one, the hydraulic pressure and displacements of the cylinders were measured and the inverse dynamic analysis was carried out using experimental data. From the results of the analysis and measurement, it was concluded that the computational driving force showed good agreement with the measured one.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.2
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• pp.226-234
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• 1998

The concept of dynamic tracking line is proposed as the feasible tracking region for a robot in a robot-conveyor system, which takes the conveyor speed into consideration. This paper presents an effective method to identify the dynamic tracking line in a robotic workcell. The maximum line speed of a robot is derived in an analytic form using the parameterized dynamics and kinematics of the manipulator, and some of its properties are established mathematically. The identification problem of the dynamic tracking line is then formulated as a root-solving problem for a single-variable equation, and solved by using a simple numerical technique. Finally, numerical examples are presented to demonstrate the methodology and its applications in workspace specification.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.657-660
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• 2003

Control of multi-link robot arms is a very difficult problem because of the highly nonlinear dynamics. Decentralized control scheme is developed for control of robot manipulators based on RBF(Radial Basis Function) Neural Networks. RBF Neural Networks is used to approximate the coupling forces among the joints, coriolis force, centrifugal force, gravitational force, and frictional force. The compensation controller is also proposed to estimate the bound of approximation error so that the chattering effect of the control effort can be reduced. The proposed scheme does not require an accurate manipulator dynamic, and it is proved that closed-loop system is asymptotic stable despite the gross robot parameter variations. Numerical simulations for two-link robot manipulator are included to show the effectiveness of controller.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.5
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• pp.539-546
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• 2004

Conventional robot manipulators actuated by motors with the speed reducer such as the harmonic drive have weakness in the load capacity, since the speed reducer does not have enough strength. To overcome this, a new type of the robot actuator based on the four-bar-link mechanism driven by the ball screw was proposed and constructed. Also, a new type of a revolute-jointed robot manipulator composed of the developed actuators was developed. The base axis is actuated by the motor with the conventional speed reducer, but the other axes are actuated by the proposed actuators. The kinematics and dynamics of the robot were analyzed, and the performance test of the robot was made. Through the test results, the performance of superior load capacity versus the robot weight is shown.

• IEMEK Journal of Embedded Systems and Applications
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• v.14 no.5
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• pp.259-267
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• 2019

This paper proposes a structure of a variable impedance control system based on sensor-less external force estimator of industrial manipulators for cyber physical production systems (CPPS). To implement CPPS, a feedback system is constructed by using the robot operating system (ROS) and an external force estimator which is designed to measure the external force applied to the manipulator without a force sensor. Based on the robot dynamics, the robot-human cooperating system for the cyber physics production system is implemented through a controller that changes the impedance characteristics of the manipulator according to the situation using the external force estimator. Simulation and experimental results verify the effectiveness of the proposed control system.

• Journal of the Korean Society of Industry Convergence
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• v.25 no.2_1
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• pp.161-168
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• 2022

This study proposed a new approach to impliment a robusut control of comsumer-friendly flexible manipulator with five joint for untact working in filed work-site. The output redefinition approach was used to overcome the non minimum phase characteristic of the system. The new output is defined so that the zero dynamics related to this output are stable. The control strategy is based on an computed torque method which is applicable to a class of time-invariamt phase linear systems whose uncertainties appear in output loop stable. The controller is composed of a stabilizing joint controller and an output redefinition tracking controller. Experimental results are also presented to verify the effectiveness of the proposed control scheme.

• Applied Microscopy
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• v.51
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• pp.8.1-8.7
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• 2021

Growing demands for comprehending complicated nano-scale phenomena in atomic resolution has attracted in-situ transmission electron microscopy (TEM) techniques for understanding their dynamics. However, simple to safe TEM sample preparation for in-situ observation has been limited. Here, we suggested the optical microscopy based micro-manipulating system for transferring TEM samples. By adopting our manipulator system, several types of samples from nano-wires to plate-like thin samples were transferred on micro-electro mechanical systems (MEMS) chip in a single step. Furthermore, the control of electrostatic force between the sample and the probe tip is found to be a key role in transferring process.

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.4
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• pp.264-269
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• 1996

본 논문에서는 디스트리뷰션 인테그랄 서브매니폴드에 의하여 표현되는 마찰이 없는 면을 따라 강체 로봇 매니퓰레이터의 모션 제어에 대한 새로운 힘.위치 제어법칙은 힘/위치가 제어되는 방향으로 투영된 앤드 이팩트의 비선형 항을 정확하게 상쇄하도록 설계하였으며, 미분기하학을 이용하여 스무스 디스트리뷰션의 인테그랄 서브매니폴드 상에서의 새로운 모션 방정식을 제안하고 제안된 힘/위치 제어법칙에 대한 타당성을 컴퓨터 시뮬레이션을 통하여 검증한다.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.581-584
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• 1996

This paper presents the robust control of robot manipulators using a decentralized control scheme. The control scheme decouples the coupling dynamics between the joints and compensates the joint variable errors without any computation of the dynamics. The performance of the control scheme is compared with that of other control schemes such as the computed torque scheme and the adaptive control scheme by simulation.

• Proceedings of the KIEE Conference
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• 1997.07b
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• pp.693-695
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• 1997

This paper deals with the tracking control problem of robotic manipulators with unknown or changing dynamics. The torque input applied to the joint actuators is determined at every instance by the identification model that best approximates the robot dynamics. The best of the identified model is chosen by the proposed switching mechanism with fuzzy inference of the manipulator in an indirect adaptive controller architecture. Simulation results are also included to demonstrate the improvement in the tracking performance when the proposed method is used.