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한쌍의 6축 전기유압 매니퓰레이터를 이용한 힘 제어 (너트의 장착 및 체결 작업에의 응용)
안경관,양순용,Ahn, Kyung-Kwan,Yang, Soon-Yong 제어로봇시스템학회 2002 제어·로봇·시스템학회 논문지 Vol.8 No.1
An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the automatic assembly tasks using hydraulic manipulators. In this manuscript, we applied a compliance control, which is based on the position control by a disturbance observer for our manipulator system. A reference trajectory modification method is proposed in order to achieve accurate force control even though the stiffness and the position of the environment change. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved under various environment conditions. The proposed force control algorithm is applied to the approaching of bolt and the wrenching of nut tasks as one typical task in the maintenance work of live power electric line and is experimentally confirmed very effective for the task.
AMESim 을 이용한 엔진구동 지게차 변속기 제어용 밸브의 모델링
안경관,D. Q. Truong,윤종일,윤장원,황광진 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.11
This paper presents the modeling of control valves of an engine forklift transmission using AMESim simulation tool. The transmission clutch pressure profile is very important because it determines the shock of transmission shift. In this study, the clutch pressure profile has been modeled and simulated using AMESim and a lab test has also been conducted to verify the model.
Modeling of a magneto-rheological (MR) fluid damper using a self tuning fuzzy mechanism
안경관,DINH QUANG TRUONG,Muhammad Aminul Islam 대한기계학회 2009 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.23 No.5
A magneto-rheological (MR) fluid damper is a semi-active control device that has recently begun to receive more attention in the vibration control community. However, the inherent nonlinear nature of the MR fluid damper makes it challenging to use this device to achieve high damping control system performance. The development of an accurate modeling method for a MR fluid damper is necessary because of its unique characteristics. Our goal was to develop an alternative method for modeling an MR fluid damper by using a self tuning fuzzy (STF) method based on neural technique. The behavior of the researched damper is directly estimated through a fuzzy mapping system. To improve the accuracy of the STF model, a back propagation and a gradient descent method are used to train online the fuzzy parameters to minimize the model error function. A series of simulations were done to validate the effectiveness of the suggested modeling method when compared with the data measured from experiments on a test rig with a researched MR fluid damper. Finally, modeling results show that the proposed STF interference system trained online by using neural technique could describe well the behavior of the MR fluid damper without need of calculation time for generating the model parameters.
안경관 울산대학교 2002 공학연구논문집 Vol.33 No.1
최근 정보사용기기의 급증으로 전력을 안정적으로 공급하는 것이 무엇보다도 중요하다. 특히 안정적인 전력공급을 위하여 활선보수공사를 자율적으로 실현하기 위해 로봇의 자율 제어 기술이 필수적으로 요구되어지고 있다. 본 연구에서는 활선보수공사의 대표작업중 전선의 삽입작업을 대상으로하여, 본 작업을 자율적으로 수행하기 위해 필요한 전선의 3차원 중심위치를 신속, 정확하게 인식하는 알고리즘을 제안한다. 본 연구에서는 기존의 하후변환을 수정하여 2차원 평면에서 전선의 중심위치를 인식하는 알고리즘을 제안하고, 나아가 이를 바탕으로 전선의 3차원 중심 위치를 인식하기 위하여 계산법을 제안한다. 이를 상기 대표작업중 전선의 중심위치의 인식에 응용하여 제안한 인식법의 유효성을 확인하였다. Nowadays it is strongly requested to supply electric power safely and uninterruptedly. For this purpose, a 6-link electro-hydraulic dual-armed manipulator has been developed to realize the maintenance task of active electric power distribution lines autonomously. In order to realize these tasks autonomously, the three dimensional position of target object must be recognized accurately and rapidly. In this report, the insertion task of an electric line into a sleeve is selected as the typical task of the maintenance of active electric power distribution lines and a modified Hough transform method and optimal target position calculation method are newly proposed in order to recognize the center position of the electric line. By the proposed modified Hough transform, the center position of the electric line can be recognized without respect to the noise of image and the shape of electric lines.