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이창규(Chang-Gyu Lee),임요안(Yo-An lim),김재하(Jaeha Kim),김종필(Jong-Phil Kim),류제하(Jeha Ryu) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.11
In general, Dahl[1] and Karnopp[2] models are widely used in order to render friction of virtual object. It is observed that the tangential stiffness and the damping coefficient are important factors while rendering the virtual object’s static friction and kinetic friction respectively and increase of each coefficient can generate unstable behaviors. This paper shows that such instability can be effectively eliminated by applying Energybounding algorithm [3].
류제하(Jeha Ryu),김재하(Jaeha Kim),서창훈(Changhoon Seo),임요안(Yo-An Lim),김종필(Jong-Phil Kim) 대한기계학회 2009 大韓機械學會論文集A Vol.33 No.4
Haptics technology allows one to interact with virtual environments, augmented environments, and real environments providing tactual sensory information. Science and technology of haptics can in general be classified into three groups: machine haptics, computer haptics, and human haptics. This paper surveys the state-of-the-art of haptic control technology for virtual environments and teleoperation (real environments) and then proposes possible future research directions in the following areas: haptic stability control, bilateral teleoperation control, and stability enhancement control.
임요안,최기상 서울시립대학교 산업기술연구소 1996 산업기술연구소논문집 Vol.4 No.-
Tracking control accuracy of piezoelectric actuators is limited due to their fundamental hysteresis nonlinearity. In this study a computer-based tracking control approach for a piezoelectric actuator based on incorporating a feedback compensation loop with a PID feedback controller is presented. The hysteresis nonlinearity of the piezoelectric actuator is modeled in the feedback compensation loop using the Maxwell slip model. Experiments were performed on a piezoelectric 2-axis linear positioner for tracking sinusoidal waveforms and circles. The experimental results show that the tracking control performance is noticeably improved by augmenting the feedback loop with a model of hysteresis in the feedback compensation loop.