• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국제학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.1014-1017
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• 1988

Direct-drive robots have excellent features including no backlash, small friction, and high mechanical stiffness. However, dynamic coupling among joints as well as nonlinear effects become more prominent than traditional robots with reducers. Another critical issue is that the robot becomes more sensitive to the change of load. In this paper, we develop a simple current feedback scheme for reducing the influence of dynamic coupling and load sensitivity on the direct-drive robots. The method is implemented on a 2 d.o.f. planar direct-drive robot. Then the validity of the method is demonstrated through experiments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1786-1790
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• 2004

The main objective of this paper is to analyze the performance of various force control algorithms in improving and adjusting the compliance of industrial robots in contact with their environment. Some of fundamental force control algorithms such as sensorless control, impedance control and hybrid position/force control are theoretically analyzed and simulated for various situations of an environment, and then a series of experiments using them were performed. In this paper, a control scheme to use position control in implementing the impedance control was investigated in order to nullify the effect of joint friction. The new reference trajectory is generated using contact force feedback and original desired trajectory. And an inner position control loop is designed to provide accurate position tracking for the new reference trajectory and good disturbance rejection. Experiments to insert a peg in a hole (so-called the peg-in-a-hole task) were performed with HILS (hardware-in-theloop simulation) system based on the results of the analyses and simulations on the characteristics of each control algorithm. The experiments showed that various force control methods improved the performance of robots in close contact with the environment by adjusting their compliance with respect to an arbitrary set of coordinates.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.467-470
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• 2004

Diamond-Like Carbon (DLC) thin film is a semiconductor with high mechanical hardness, low friction coefficient, high chemical inertness, and optical transparency. DLC thin films have widespread applications as protective coatings and solid lubricant coatings in areas such as Hard Disk Drive (HDD) and Micro-Electro-Mechanical-Systems (MEMS). In this work, the wear characteristics of DLC thin films deposited on silicon substrates using a DC-magnetron sputtering system were analyzed. The wear tracks were measured with an Atomic Force Microscope (AFM). To identify the sp2 and sp3 hybridization of carbon bonds and other bonds Raman spectroscopy was used. The structural information of DLC thin films was obtained with Fourier transform infrared spectroscopy and wear tests were conducted by using a micro-pin-on-reciprocator tester. Results showed that the wear characteristics were dependent on the sputtering conditions. The wear rate could be correlated with the bonding state of the DLC thin film.

• 제어로봇시스템학회논문지
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• 제21권7호
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• pp.595-601
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• 2015

This paper presents an unified chassis control with electronic stability control (ESC) and active front steering (AFS) under lateral force constraint on AFS. When generating the control yaw moment, an optimization problem is formulated in order to determine the tire forces, generated by ESC and AFS. With Karush-Kuhn-Tucker optimality condition, the optimum tire forces can be algebraically calculated. On low friction road, the lateral force in front wheels is easily saturation. When saturated, AFS cannot generate the required control yaw moment. To cope with this problem, new constraint on the lateral tire force is added into the original optimization problem. To check the effectiveness of the propose method, simulation is performed on the vehicle simulation package, CarSim.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1131-1135
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• 2004

In the virtual environment, force feedback to the human operator makes virtual experiences more realistic. However, the force feedback using active actuators such as motors can make the system active and sometimes unstable. To ensure the safe operation and enhance the haptic feeling, stability should be guaranteed. Both motors and brakes are commonly used for haptic device. A brake can generate a torque only against its rotation, but it is intrinsically stable. Consequently, motors and brakes are complementing each other. In this research, a two degree-of-freedom (DOF) haptic device equipped with both motors and brakes has been developed to provide better haptic effects. Each DOF is actuated by a pair of motor and brake. Modeling of the environment and the control method are needed to utilize both actuators. For various haptic effects, contact with the virtual wall and representation of friction effect are extensively investigated in this paper. It is shown that the hybrid haptic system is more suited to some applications than the motor-based active haptic system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.317-317
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• 2000

The mathematical set-up model was developed to reduce the mechanical property deviation in annealed and slightly rolled steel strip. The mechanical peculiarities of temper rolling process, such as high friction value and non-circular contact arc, Low reduction and non-negligible entry and exit elastic zones as well as central restricted deformation zone are all taken into account. The deformation of work rolls is calculated with the influence function method and arbitrary contact arc shape is permitted. The strip deformation is modeled by slab method and the entry and exit elastic deformation zones are included. The restricted deformation Bone near the neutral point is also considered. It was revealed that the new model has better accuracy than present regression model by statistical analysis with actual mill rolling data.

• 한국자동차공학회논문집
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• 제18권4호
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• pp.107-114
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• 2010

Coupling systems for trains need more complicated buffer equipments than existing systems because the recent tendency of the regulations enforces trains to be safe for collisions even when the driving speed is higher than before. Using hydraulic buffer is an effective way to satisfy the requirement while it causes the increase of the cost for the coupling system. In this study, we introduce the methodology to build a simulation model for the hydraulic buffer, which could be installed into the coupling systems. In the simulation model of the hydraulic buffer, the reacting force is determined by both buffer stroke and speed whereas the elastic buffer model is designed by using only the buffer stroke in other studies. The simulation results with the advanced hydraulic buffer model shows that the simulating results can be close the real experimental results around 10%, and, if we considers friction forces, the simulation calculates the maximum force within 10% comparing to the experimental.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2002년도 학술대회지
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• pp.607-610
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• 2002

As machines become smaller and faster multileaf foil bearings are used to overcome the problems with heat, friction and wear Systems with foil bearings do not need a separate system for lubrication. These bearings are self acting and are therefore green systems. Until now, there have been many studies on the structural and dynamical performances. Therefore the object of the present study is to predict the flow and structural characteristics by using the Fluid/structure interaction method. The increase in RPM led to the increase in pressure, temperature difference, maximum velocity, Mach number, shear stress and torque. In the case of 90,000 RPM effects such as choking led to a non-lineararity in the system. Also the effect of eccentricity ratio was observed and showed that eccentricity increased the maximum pressure and the density difference while decreasing the shear stress and torque.

• 대한기계학회논문집B
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• 제26권1호
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• pp.1-11
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• 2002

Flow of fluid has been studied in various fields of fluid engineering. To hydraulic engineers, the unsteady flow such as pulsation and liquid hammering in pipes has been considered as a serious trouble. So we are supposed to approach the formalized mathematical model by using more exact momentum equation for fluid transmission lines. Most of recent studies fur pipe line have been studied without considerations of variation of viscosity and temperature, which are the main factors of pressure loss causing the friction of fluid inside pipe line. Frequency response experiments are carried out with use of a rotary sinusoidal flow generator to investigate wave equation take into account viscosity and temperature. But we observed that measured value of gains are reduced as temperature increased. And it was respectively observed that the measured value of gains are reduced and line width of gain is broadened out, when temperature was high in the same condition. As we confessed, pressure loss and phase delay are closely related with the length, diameter and temperature of pipe line. In addition, they are the most important factors, when we decide the momentum energy of working fluid.

• 제어로봇시스템학회논문지
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• 제13권10호
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• pp.940-948
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• 2007

The Advanced Spent Fuel Conditioning Process(ACP), which is the process of the reduction of uranium oxide by lithium metal in a high temperature molten salt bath for spent fuel, was developed at Korea Atomic Energy Research Institute (KAERI). Since the ACP equipment is located in an intense radiation field (hot cell) as well as in a high temperature, it must be remotely operated and maintained. The ACP hot cell is very narrow so the workspace of the wall-mounted mechanical Master-Slave Manipulators(MSMs) is restricted. A Bridge Transported Servo Manipulator(BTSM) system has been developed to overcome the limitation of an access that is a drawback of the mechanical MSMs. The BTSM system consists ot a bridge crane with telescoping tubeset, a slave manipulator, a master manipulator, and a control system. We applied a bilateral position-position control scheme with friction compensation as force-reflecting controller. In this paper, the transmission characteristics on the tendon-and-pulley train is numerically formulated and analyzed. Also, we evaluate the performance of the force-reflecting servo manipulator.