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진상록(Sangrok Jin),배장호(JangHo Bae),박정애(Jeongae Bak),김홍민(Hongmin Kim),김종원(Jongwon Kim),서태원(TaeWon Seo) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
We developed an underwater robot with tilting thrusters and designed the selective switching controller for stable hovering motion. 6-DOF motion dynamics were divided into two 3-DOF subsystems according to tilting angle, and two PD controllers for each 3-DOF subsystems were designed. Selection logic switched between sub-controllers depending on the error of robot motion in real-time. The selection strategy has a major influence on the state trajectories under selective switching control. This paper compares with three selection strategies which have criterion of maximum value, average, and norm of errors. The characteristics of each strategy are analyzed from simulation results. This work can lay the base for optimal selection strategy.
김홍민(Hongmin Kim),진상록(Sangrok Jin),박수민(Sumin Park),김영수(Youngsoo Kim),김종원(Jongwon Kim) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
Total Knee Arthroplasty is a surgery of replacing a knee joint with artificial implants. The objectives of the surgery is to restore and correct the lower limb mechanical axis and alleviate pain in the knee joint. Various robotic systems have been proposed to accomplish high accuracy of the alignment of the lower limb mechanical axis and therefore precise cutting of the femur and tibia. These robotic systems for TKA have drawbacks such as increased surgery time and limitation of surgeon’s direct intervention. These drawbacks mainly arises from using the end mill for the cut and adopting an automated scheme of the process. We propose a novel surgical robotic platform that is able to effectively guide the surgeons during TKA. The robotic platform accurately locates the planes of cut and positions the cutting jig. Surgeons use the oscillating saw which they have been using in the conventional surgery, thus the user experiences the familiar force feedback when making the cut, while greatly reducing the load of human resources and surgery time.
김지훈(Jihoon Kim),진상록(Sangrok Jin),김종원(Jong-Won Kim),서태원(TaeWon Seo),김종원(Jongwon Kim) Korean Society for Precision Engineering 2013 한국정밀공학회지 Vol.30 No.9
In this paper, we propose an optimal design for starfish capturing manipulator module with fourbar linkage mechanism. A tool link with compliance is attached on the four-bar linkage, and the tool repeats detaching starfish from the ground and putting it into the storage box. Since the tool is not rigid and the manipulator is operating underwater, the trajectory of the tool tip is determined by its dynamics as well as kinematics. We analyzed the trajectory of the manipulator tool tip by quasi-static analysis considering both kinematics and dynamics. In optimization, the lengths of each link and the tool stiffness are considered as control variables. To maximize the capturing ability, capturing stroke of the four-bar manipulator trajectory is maximized. Reaction force and reaction moment, and other kinematic constraints were considered as inequality constraints.
Hovering Performance Improvement by Modifying COG of Underwater Robotic Platform
박정애(Jeongae Bak),김종원(Jong-Won Kim),진상록(Sangrok Jin),김종원(Jongwon Kim),서태원(TaeWon Seo) Korean Society for Precision Engineering 2015 한국정밀공학회지 Vol.32 No.7
This paper presents control performance improvement by modifying center of gravity (COG) of an underwater robotic platform. To reduce the oscillation or to increase the positioning accuracy, it is important to accurately know the COG of an underwater robotic platform. The COG is determined by the three measured tilting angles of the platform in different postures. The tilting angle is measured while the platform is hanged by two strings. Using coordinate transformation, the plane of intersection is defined from the angle of the platform and the position of the string. The COG of the robotic platform is directly calculated by the intersected point in three defined planes. The measured COG is implemented to the control algorithm that is pre-designed in the previous research, and the empirical result on tilting gives 48.26% improved oscillation performance comparing to the oscillation result with the ideal COG position.
6 자유도 수중로봇 플랫폼의 백스테핑 제어를 위한 제어이득 최적화
김지훈(Jihoon Kim),김종원(Jong-Won Kim),진상록(Sangrok Jin),서태원(TaeWon Seo),김종원(Jongwon Kim) Korean Society for Precision Engineering 2013 한국정밀공학회지 Vol.30 No.10
This paper presents gain optimization of a 6-DOF underwater robotic platform with 4 rotatable thrusters. To stabilize the 6-DOF motion of the underwater robotic platform, a back-stepping controller is designed with 6 proportional gains and 6 derivative gains. The 12 gains of the backstepping controller are optimized to decrease settling time in step response in 6-DOF motion independently. Stability criterion and overshoots are used as a constraint of the optimization problem. Trust-region algorithm and hybrid Taguchi-Random order Coordinate search algorithm are used to determine the optimal parameters, and the results by two methods are analyzed. Additionally, the resulting controller shows improved performance under disturbances.