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RISS 인기검색어
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- 저자 : 백고길(Ko Kil Back) (검색결과 2 건)
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백고길(Ko Kil Back),최양진(Yang Jin Choi),송하영(Ha Young Song) 대한공업교육학회 1990 대한공업교육학회지 Vol.15 No.2
TAEJON University of Technology which was installed in 1984 as an Open University of Korean style, the Institute of Higher Education in the Continuing Education and the Recurrent Education based on the Life-long Education has been studied from a developing point of view. The major results are as follows: (1) In the questionnaire survey on the Technologist Education in the Choongchong district concerned with the College-Industry Cooperation, the curriculum should be provided for the scheme to lessen the lack of the practical talents in the executive abilities for his/her charge. Furthermore, the entrusting education for the continuing and recurrent education for the on-the-job students should be prepared and implemented. (2) In the activated strategies in the College-Industry Cooperation, the function and business of the College-Industry Liaison should be reinforced as well as the preparation and the execution of the programs of the College-Industry Cooperation. (3) In the development of Technologist Curricula, the curriculum module for educating the technologists has been set up and the curricula in the fields of the Factory Automation and the Machnine Design have been developed.
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QFT(Quantitative Feedback Theory)를 이용한 유연한 조인트를 갖는 로봇팔의 강인제어
曺萬鎬,白高吉,李基寧 大田産業大學校 1998 한밭대학교 논문집 Vol.15 No.1
This thesis presen4s the investigation into dynamic characteristics and robust control of a robot arm with joint flexibilities. A commercial SCARA robot is used to analyze the dynamic characteristics of the arm. The results convince that the flexibility is mainly due to the relatively weak torsional stiffeness of a joint between the robot arm and its driving motor shaft, i.e, a harmonic drive’s thin wal1. Thus a rigid bar with a tortional spring at the joint is developed as a good candidate for a flexible robot arm model. Several cases are considered for the design of PID controller to identify the joint flexibility on control performances. QFT(Quantitative Feedback Theory) method is suggested for robust control. The designed controllers are examined by computer simulations and stability analyses.
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