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확장된 칼만필터를 이용한 2축 로봇 매니퓰레이터의 접촉힘 추정
이중욱,허건수 한국공작기계학회 2000 한국공작기계학회 추계학술대회논문집 Vol.2000 No.-
Recent requirements for thе fast and accurate motion in industrial robot manipulator need more advanced control techniques. To satisfy the requirements, importance of the force control is being continuously increased and the expensive force sensor is usually installed to obtain thе contact force information in practice. This information is indispensable for the force control of maintaining thе desired contact force. However the sensor cost is too high to be used in industrial applications. In this paper, it is proposed to estimate the contact force occurred between thе end-effector of 2 DOF robots and environment. The contact force estimaiton system is developed based on the static and dynamic models of 2 DOE robot manipulators, where thе contact force is described with respect to thе link torque. The Extended Kalman Filter is designed and its performance is verified in simulations.
확장된 칼만필터를 이용한 2축 로봇 매니퓰레이터의 접촉힘 추정
이중욱,허건수 한국공작기계학회 2001 한국생산제조학회지 Vol.10 No.4
Recent requirements for the fast and accurate motion in industrial robot manipulators need more advanced control tech-niques. To satisfy the requirements, importance of force control is being continuously increased and the expensive force sensor is usually installed to obtain the contact force information in practice. This information is indispensable for the force control of maintaining the desired contact force. However, the sensor cost is too high to be used in industrial applications. In this paper, it is proposed to estimate the contact force occurring between the end-effector of 2 DOF robots and environment. The contact force estimation system is developed based on the static and dynamic models of 2 DOF robot manipula-tors, where the contact force is described with respect to the link torque. The Extended Kalman Filter is designed and its performance is verified in simulations.
Discontinuous pn-Heterojunction for Organic Thin Film Transistors
Cho, Boeun,Yu, Seong Hun,Kim, Minwoo,Lee, Moo Hyung,Huh, Wansoo,Lee, Jiyoul,Kim, Jungwook,Cho, Jeong Ho,Lee, Jun Young,Song, Young Jae,Kang, Moon Sung American Chemical Society 2014 The Journal of Physical Chemistry Part C Vol.118 No.31
<P>Utilization of discontinuous pn-oragnic heterojunction is introduced as a versatile method to improve charge transport in organic thin film transistors (OTFTs). The method is demonstrated by depositing n-type dioctyl perylene tetracarboxylic diimide (PTCDI-C<SUB>8</SUB>) discontinuously onto base p-type pentacene OTFTs. A more pronounced impact of the discontinuous upper layer is obtained on the transistor performances when thinner base layers are employed; a >100-fold enhancement in hole mobility and a >20 V shift in threshold voltage are achieved after applying PTCDI-C<SUB>8</SUB> discontinuously onto 2 nm thick pentacene thin films. Local surface potential measurements (Kelvin-probe force microscopy) and temperature-dependent transport measurements (77–300 K) reveal that the interfacial dipole formed at the pn-heterostructures effectively dopes the base pentacene films p-type and leads to a reduction in transport activation energy.</P><P><B>Graphic Abstract</B> <IMG SRC='http://pubs.acs.org/appl/literatum/publisher/achs/journals/content/jpccck/2014/jpccck.2014.118.issue-31/jp504114f/production/images/medium/jp-2014-04114f_0005.gif'></P><P><A href='http://pubs.acs.org/doi/suppl/10.1021/jp504114f'>ACS Electronic Supporting Info</A></P>