• 로봇학회논문지
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• 제11권3호
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• pp.183-192
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• 2016

Generating motion of center of mass for biped robots is a challenging issue since biped robots can easily lose balance due to limited contact area between foot and ground. In this paper, we propose force control method to generate high-speed motion of the center of mass for horizontal direction without losing balancing condition. Contact consistent multi-body dynamics of the robot is used to calculate force for horizontal direction of the center of mass considering balance. The calculated force is applied for acceleration or deceleration of the center of mass to generate high speed motion. The linear inverted pendulum model is used to estimate motion of the center of mass and the estimated motion is used to select either maximum or minimum force to stop at goal position. The proposed method is verified by experiments using 12-DOF torque controlled human sized legged robot.

• The Journal of Korean Physical Therapy
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• 제27권1호
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• pp.43-49
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• 2015

Purpose: The aim of the current study was to examine the effects of hinged ankle-foot orthosis (HAFO) on walking function in children with spastic diplegic cerebral palsy (CP). Methods: Thirty-two children (mean age: $6.79{\pm}0.35years$, age range: 5-7 years) who were diagnosed with spastic diplegic cerebral palsy participated in the study. Each subject typically walked through 10 meters of a gait platform with markers on the subject's proper body segments and underwent 3-D motion analysis system with and without hinged ankle-foot orthosis. The HAFOs were all custom-made for individual CP children and had plantarflexion stop at $0^{\circ}C$ with no dorsiflexion stop. The interventions were conducted over three trials in each group, and measurements were performed on each subject by one examiner in three trials. 3-D motion analysis system was used to measure gait parameters such as walking velocity, cadence, step-length, step-width, stride-length, and double support period in two conditions. Results: The walking velocity, cadence, step-length, and stride-length were significantly greater for the HAFO condition as compared to the no HAFO condition (p<0.05). However, no significant difference in step-width and double support period was observed between two conditions. Conclusion: These findings suggest that using the HAFO during walking would suggest positive evidence for improving the spatiotemporal parameters of gait in children with spastic diplegic cerebral palsy.

• 한국융합학회논문지
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• 제9권12호
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• pp.1-7
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• 2018

미소칩을 PCB상에 실장하는 장비에서 그 칩을 이동해주는 역할은 겐트리가 하고 있다. 그런데 겐트리의 기계적 한계 때문에 생산성을 증가시키는 것은 쉽지 않다. 따라서 본 논문에서는 생산성을 높일 수 있는 방법을 소프트웨어적으로 해결하고자 한다. 이를 위해 겐트리의 이동 시간을 단축함으로써 생산성을 향상시킬 수 있는 방법을 제시한다. 먼저, 현재 사용하고 있는 방법(stop-motion)에 대해 총 이동 시간을 계산해 보았다. 그리고 본 논문에서 제시하는 이동 시간 단축 방법(moving-motion)에 대해서도 총 이동 시간을 계산해 보았다. 이 방법은 카메라 앞에서 멈추지 않고 부품 검사를 함으로써 이동 시간을 줄이는 것이다. 그 결과 본 논문에서 제시한 방법이 16%의 시간을 단축하였음을 보여주었다. 향후에는 다른 타입에 대해서도 시간 계산 방법을 연구하는 것이다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.92-95
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• 2004

This study proposes an industrial rehabilitation robot system which can exercise two joints in 3 dimensional spaces. The robot kinematics analysis and the results of studies on each joint for the rehabilitation robot could verify possibility of rehabilitation motion to exercise a joint. The force and torques sensor not only measures a rehabilitation performance of subjects between the abnormal limb and the manipulator, but also carries out an important function of safety device to prevent accidents. Also, limit sensors and emergency stop switch are used for high safety in this system. In this real test, the possibility of rehabilitation robot system is evaluated by C&R ARM I which is similar to upper-limb.

• 대한기계학회논문집
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• 제12권2호
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• pp.389-396
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• 1988

본 연구에서는 위의 세가지 보간 알고리즘 가운데서 가장 속도의 균일성이 좋은 DDA방식을 채택하였다. 그리고 윤곽제어에서 가공경로는 대개 직선과 원호 구간의 조합으로 구성되어질 수 있기 때문에, 본 연구에서는 직선 및 원호보간만 고려하기로 한다.

• 한국소음진동공학회논문집
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• 제14권4호
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• pp.287-294
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• 2004

Dynamic Load/unload (L/UL) mechanism is an alternative to the contact start stop (CSS) technology which eliminates striction and wear failure modes associated with CSS. Inertia latch mechanism becomes important for mobile disk drives because of non operating shock performance. Various types of latch designs have been introduced in hard disk drives to limit a rotary actuator from sudden uncontrolled motion. In this paper, a single spring inertia latch is introduced for a small form optical disk drive, which uses a rotary actuator for moving an optical pick-up. A new small inertia latch with sin91e spring is designed to ensure both feasible and small size. The shock performance of the new inertia latch is experimentally verified.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2001년도 춘계학술대회논문집
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• pp.1122-1129
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• 2001

In this work, we propose a new type of HDD suspension featuring shape memory ally (SMA) actuator in order to prevent the contact between the slider and disk. The principal design parameters are obtained from the modal analysis using finite element analysis, and then the dynamic model is established to formulate the control scheme for Non-Contact Start/Stop mode drive. Subsequently, a robust Η$_{\infty}$, control algorithm is designed by integrating experimentally-obtained SMA actuator dynamics to the proposed suspension system. The controller is empirically realized and control results for different load/unload profiles are presented in time domain. In addition, the contact signal between the slider and disk is measured by the electrical resistance method.istance method.

• 한국정밀공학회지
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• 제27권12호
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• pp.33-40
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• 2010

Vibration of a hydraulic excavator's body and boom occurs when the boom quickly stops after upward or downward motion. The main objective of this research is to present an idea of suppressing the vibration. Three parameters which affect the vibration are defined and analyzed thoroughly and a heuristic method suppressing the vibration is presented in this paper. Experimental results show that the proposed method works very well.

• 전력전자학회논문지
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• 제22권5호
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• pp.390-396
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• 2017

In this paper, an exact mathematical model is derived for an exhaust gas recirculation (EGR) valve actuator driven by an H-bridge converter. Particularly, a spring torque model of the EGR valve is proposed. The spring torque model is proposed by converting spring force and Coulomb frictional force in linear motion into a rotational torque. Moreover, a mechanical end-stop model was proposed by the valve mechanism. The accuracy of the proposed model is verified by comparing the experimental results with the simulated results.

• 대한전기학회논문지
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• 제41권5호
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• pp.562-572
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• 1992

In this paper, we propose software algorithms which provide acceleration/deceleration characteristics essential to high dynamic performance at the transient states where industrial robots or CNC machine tools start and stop. Software acceleration/deceleration methods are derived from the mathematical analyses of typical hardware systems controlling acceleration/deceleration. These methods make servo motors, which drive axes of motion, start and stop smoothly without vibration in the repeated tools. The path error, which is one of the most significant factors in the performance evaluation of industrial robots or CNC machine tools, is analyzed for linear, exponential, and parabolic acceleration/deceleration algorithms in case of circular interpolation. The analyses show that path error consists of the distance between the required path and generated one through acceleration/deceleration, and that between the generated one through acceleration/deceleration algorithm and the actual one of the end effector of the industrial robot or tool of the CNC equipment.