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이지우,한성현,이만형,Lee, Ji-U,Han, Seong-Hyeon,Lee, Man-Hyeong 한국정밀공학회 1992 한국정밀공학회지 Vol. No.
An industrial robot, installed real manufacturing processes an element of the system autmation, can be considered as an uncertain system due to dynamic uncertainties in inertial parameters and varying payloads. Most difficuties in controlling a robot manipulator are caused by the fact that the dynamic equations describing the motions of the manipulator are inherently nonlinear and heavily coupled effects between joints and associated links. Existing robot conrol systems have constant predefined gains and do not cover the complex dynamic interactions between manipulator joints. As a result, the manipulator is severly limited in range of application, speed of operation and variation of payload. The proposed controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories defined by the desinger. The proposed manipulator studied has two loops, an inner loop of model reference adaptive controller and an outer loop of state feedback controller with integral action to guarantee the stability of the adaptive scheme. This adaptation algorithm is based on the hyperstailiy approach with an improved Lyapunov function. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance in practical working environment, various load variations and parameter uncertainties.
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큐브위성 탑재를 위한 MEMS 고체 추력기의 구조설계 및 검증
장수은(Su-Eun Jang),한성현(Sung-Hyeon Han),김태규(Tae-Gyu Kim),이종광(Jong-Kwang Lee),장태성(Tae-Seong Jang),오현웅(Hyun-Ung Oh) 한국항공우주학회 2015 韓國航空宇宙學會誌 Vol.43 No.5
MEMS 고체 추력기 모듈은 MEMS 고체 추력기와 MEMS 추력기 제어보드로 구성된다. MEMS 고체 추력기는 학문적 연구개발 목적으로 개발되었기 때문에 발사환경을 고려한 설계 및 시험이 이루어지지 않아 이를 큐브위성에 탑재 및 궤도검증을 위해서는 설계 시 추력기 모듈로의 발사하중이 최소화 되도록 하는 위성체 시스템 레벨에서의 설계노력이 요구된다. 본 논문에서는 MEMS 고체 추력기의 조립 및 시험과정에서의 탈장착 용이성 및 발사환경에서의 구조건전성 확보를 위해 브래킷을 이용한 구조설계를 제안하였으며, 준정적해석과 랜덤해석 및 진동시험을 통해 설계의 유효성을 검증하였다. 또한, 본 논문에서 제안한 스프링 핀을 이용한 MEMS 추력기와의 전기적 체결방식은 발사 진동에서의 구조건전성 확보에 유효함을 입증하였다. MEMS solid thruster module is composed of solid thruster and its control board. It was developed for the purpose of an academic research. Therefore, thermo-mechanical design and verification for space usage were not considered in the design phase. To mount it on a cube satellite without any design modification, technical efforts at the system level structure design is required. In this study, we proposed a structural design concept to mount the MEMS thruster module by using brackets for guaranteeing structure safety under launch loads and easier mating and de-mating of MEMS thruster module during test phase. The effectiveness of the design has been verified through structural analysis and vibration test. In addition, electrical connection method using spring pins between MEMS thruster and control board is effective for guaranteeing the structural safety under launch vibration loads.
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