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On the Robust Adaptive Sliding Mode Control of Robot Manipulators
배준경,Bae, Jun-Kyung The Institute of Electronics and Information Engin 2001 電子工學會論文誌-SC (System and control) Vol.38 No.6
피드-포워드 보상부분과 불연속 제어 부분으로 구성되는 강건한 적응 슬라이딩 모드 로봇제어 알고리즘을 유도하였다. 미지의 매개변수는 실시간으로 추정되는 매개변수를 포함하는 그룹과 실시간으로 추정하지 않는 매개변수를 포함하는 그룹으로 나누어진다. 그런 다음 외란 및 실시간으로 추정하지 않는 매개변수에서의 불확실성 효과를 보상하기 위해 슬라이딩 제어 항이 토크 입력에 포함된다. 또한 매니퓨레이터 동역학 구조의 효율적인 이용으로 인하여 알고리즘은 계산이 간단하다. 매개변수 불확실성과 외부 외란의 존재에도 불구하고 제어기는 대국적 점근적으로 안정하며 추적오차가 영에 수렴함을 보여준다. A robust adaptive sliding mode robot control algorithm is derived, which consists of a feed-forward compensation part and discontinuous control part. The unknown parameters is categorized into two groups, with group containing the parameters estimated on-line, and group containing the parameters not estimated on-line. Then a sliding control term is incorporated into the torque input in order to account for the effects of uncertainties on the parameters not estimated on-line and of disturbances. Moreover, the algorithm is computationally simple, due to an effective exploitation of the structure of manipulator dynamics. It is shown that, despite the existence of the parameter uncertainty and external disturbances, the controller is globally asymptotically stable and guarantees zero tracking errors.
브러시 공정을 이용한 변속기 밸브바디의 효율적인 디버링 방법 개발
배준경(Jun-Kyung Bae),안동현(Dong-Hyun Ahn),권병찬(Byeong-Chan Kwon),고성림(Sung-Lim Ko) 한국기계가공학회 2018 한국기계가공학회지 Vol.17 No.1
The cleanability of machine parts is becoming increasingly important in the industrial field. In particular, cleanability is the most important factor in hydraulic products. The burr and chips are dominant factors of cleanability. If the burrs are not removed completely before the beginning of the machining stage, this will cause many problems, such as scratches and operation failure. Due to the complexity of the valve body itself, it is very difficult to use common deburring tools. In this study, a brush-like deburring tool was suggested and verified as a proper tool for removing the burrs and forming a proper edge shape through a real experiment. Various kinds of brush materials and process conditions were tested for proper deburring of the valve body. It was shown that the suggested method was successful for valve body deburring.
새로운 디버링 공구를 이용한 드릴링 버의 효율적 제거를 위한 가공조건 선정
배준경(Jun-Kyung Bae),박하영(Ha-Young Park),권병찬(Byeong-Chan Kwon),고성림(Sung-Lim Ko) 한국기계가공학회 2016 한국기계가공학회지 Vol.15 No.4
For efficient deburring of burrs that form inside mechanical parts after drilling, new special deburring tool was developed specifically for the burr found at intersecting holes. In this paper, the process for finding ideal cutting conditions has been carried out to identify the efficient performance of deburring using a new tool. The burrs at the entrance and exit surface were analyzed for efficient removal. The surface roughness after deburring was also reviewed for better performance. In addition, the influence of the feed rate on deburring quality was analyzed for improved productivity. Through this process, a new deburring tool can be applied effectively to remove burrs formed at intersecting holes.
구멍가공 시 경사진 출구면에 발생한 버의 효율적 제거를 위한 디버링 공구의 공구경사각과 강성의 결정
배준경(Jun-Kyung Bae),신성근(Sung-guen Shin),권병찬(Byeong-chan Kwon),고성림(Sung-Lim Ko) 한국기계가공학회 2021 한국기계가공학회지 Vol.20 No.6
In machining operations, a burr is an undesirable material formed by plastic deformation in a workpiece. With the ongoing industrial developments, it has become an important issue to efficiently remove burrs. Several deburring methods have been developed to remove specific burrs that require special machining. However, to remove burrs formed while machining at the CNC machining center, deburring tools must be developed. In a previous study, a new deburring tool was developed by the authors. In this study, the influence of the rake angle and stiffness of the new deburring tool was analyzed to improve performance. The theoretical model was driven considering the rake angle and stiffness, and experiments were carried out to validate the model. Especially, conditions based on the designed rake angle and stiffness to effectively remove burrs, which is difficult, at the exit surface were suggested.
배준경(Jun-Kyung Bae),오석규(Seok-Gyu Oh) 한국조명·전기설비학회 2014 조명·전기설비학회논문지 Vol.28 No.5
The SRM is a doubly salient, singly excited machine. The torque is developed by the tendency for the magnetic circuit to adopt a configuration of minimum reluctance, i.e. for the rotor to move into in line with the stator poles and to maximize the inductance of the coils excited. It is common practice to combine them into groups of poles which are excited simultaneously; for example, 8/6 SRM (8 stator poles and 6 rotor poles) for 4 phases, 6/4, 12/8 SRM for 3 phases, 4/2, 6/3 SRM for 2 phases. Small number of phases in two-phase SRMs allows more cost savings with regards to the switching devices in the converter. The stator back irons of two phase 6/3 SRM and C-core 4/3 SRM does not experience any flux reversal as the flux is in the same direction whether phase A or B is excited. In this study, the similarities, the differences, and structural characteristics between the two SRMs was studied, The magnetic analysis also has been carried out by the finite element method analysis (FEM).
슬라이딩 표면을 이용한 로봇 매니퓰레이터의 강건한 적응 마찰 제어
배준경(Jun-Kyung Bae) 대한전기학회 2011 전기학회논문지 Vol.60 No.11
In this paper, a robust adaptive controller is proposed for trajectory tracking of robot manipulators with the unknown friction coefficient and bounded disturbance. A new adaptive control law is developed based on sliding mode and derived from the Lyapunov stability analysis. The introduction of a boundary layer solves the problem of chattering. The proposed adaptive controller is globally asymptotically stable and guarantees zero steady state error for joint positions. The estimated friction coefficients can also approach the actual coefficients asymptotically. A simulation example is provided to demonstrate the performance of the proposed algorithm.