Robust Adaptive Control of A HexaSlide Type Parallel Manipulator

Kim, Jong-Phil,Kim, Sung-Gaun,Ryu, Jeha Institute of Control 2001 Transaction on control, automation and systems eng Vol.3 No.4

Jeha Ryu Department of Mechatronics, Kwangju Institute of Science and Technology This paper presents an application of a robust adaptive control strategy to HexaSlide type six degrees-of-freedom parallel manipulators. The HexaSlide type parallel manipulators are characterized as an architecture with constant link lengths that are attached to moving sliders on the ground and to a mobile platform. The proposed control law is developed based on a simplified second order system dynamic equation in joint space with uncertain mass, damper, spring, and Coulomb friction terms. These uncertain parameters are updated by an adaptation law that is derived by Lyapunov stability theorem. A robust adaptive control law by using the boundary layer is designed for the purpose of compensating for the neglected dynamic effects of the mobile platform and the six moving links that are modeled as a disturbance term. Experimental results show good and fast tracking performance.

Force Transmission Analyses with Dimensionally Homogeneous Jacobian Matrices for Parallel Manipulators

Sung-Gaun Kim,Jeha Ryu 대한기계학회 2004 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.18 No.5

To avoid the unit inconsistency problem in the conventional Jacobian matrix, new for-mulation of a dimensionally homogeneous inverse Jacobian matrix for parallel manipulators with a planar mobile platform by using three end-effector points was presented (Kim and Rye, 2003). This paper presents force relationships between joint forces and Cartesian forces at the three End-Effector points. The derived force relationships can then be used for analyses of the input/output force transmission. These analyses, forward and inverse force transmission analyses, depend on the singular values of the derived unit consistent Jacobian matrix. Using the proposed force relationship, a numerical example is presented for actuator size design of a 3-RRR planar parallel manipulator.<br/>

스테레오 비전을 이용한 싱킹 시트의 용접 품질 검사 시스템 개발

윤상환(Sang-Hwan Yun),김한종(Han-Jong Kim),김성관(Sung-Gaun Kim) 한국생산제조학회 2008 한국생산제조학회지 Vol.17 No.3

This paper presents a stereo vision based autonomous inspection system for welding quality control of a RV (Recreational Vehicle) sinking seat. The three dimensional geometry of the welding bead, which is the welding quality criteria, is measured by using the captured stereo images with a median filter applied on it. The image processing software for the system was developed using the NI LabVIEW software with NI vision system. In the manufacturing process of a RV sinking seat, the developed system can be used for overcoming the precision error that arises from a visible inspection by an operator. The welding quality inspection system for RV sinking seat was verified using experimentation.

차량용 싱킹시트의 용접품질 비젼 검사 시스템 개발

윤상환(Sang-Hwan Yun),김한종(Han-Jong Kim),문상인(Sang-In Moon),김성관(Sung-Gaun Kim) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.5

This paper presents a vision based autonomous inspection system for welding quality control of car sinking seat. In order to overcome the precision error that arises from a visible inspection by operator in the manufacturing process of a car sinking seat, this paper proposes the MVWQC (machine vision based welding quality control) system. This system consists of the CMOS camera and NI machine vision system. The image processing software for the system has been developed using the NI vision builder system. The geometry of welding bead, which is the welding quality criteria, is measured by using the captured image with median filter applied on it. Experiments have been performed to verify the proposed MVWQC of car sinking seat.

전기 유압식 동력 조향시스템의 모델링 및 시뮬레이션에 관한 연구

김지혜(Kim, Ji-Hye),김성관(Kim, Sung-Gaun) 한국산학기술학회 2012 한국산학기술학회논문지 Vol.13 No.3

EHPS는 탈엔진형 조향기술로 BLDC 모터를 통해 유압펌프를 작동시켜 조향력을 보조하는 동력 조향장치이 다. EHPS는 BLDC 모터, 기어펌프 및 유압회로, 파워 스티어링 등으로 이루어진 전기전자, 유압 및 기계시스템의 복 합적 시스템으로 모델링이 어렵다. 본 논문에서는 EHPS 시스템의 구성 부품을 수학적 모델링 하였고, AMESim을 이 용하여 multi-domain 시스템의 시뮬레이션 모델을 구축하였다. 이를 활용한 다양한 시뮬레이션을 통해 개발 초기단계 에서의 시행착오를 줄이고 완성도 높은 EHPS 개발 업무를 수행하는 데 도움을 줄 수 있을 것으로 사료된다. Electro-hydraulic power steering (EHPS) system is the power-assisted steering which operates the hydraulic pump by BLDC motors for assisting the steering force. EHPS consists of BLDC motor, gear pump, oil-hydraulic circuit and steering system. Since EHPS is a convergence system consisting of electricity and electronic, hydraulic and mechanical system, it is difficult to establish the simulation model. In this paper, the mathematical model of EHPS system components were presented, and the simulations of the multi-domain system were performed by using AMESim. The trial and error of development would be reduced by using this simulation results, and it would be helpful for developing high-quality EHPS.

전기 유압식 동력 조향시스템용 외접형 기어펌프의 유량특성 근사식에 관한 연구

김지혜(Kim, Ji-Hye),김성관(Kim, Sung-Gaun) 한국산학기술학회 2013 한국산학기술학회논문지 Vol.14 No.2

Electro-Hydraulic Power Steering(EHPS) 시스템은 오일펌프에 직결된 전기모터를 통해 조향 조작력을 발생시 키는 시스템이다. 이러한 스티어링 시스템 부품의 원가 및 성능을 최적화시키는 것은 매우 중요하다. 현재까지 EHPS 시스템과 같은 유압시스템의 개발은 실차 실험을 통해 문제점을 보완하여 개발하고 있기 때문에 많은 시간과 비용이 발생한다. 본 논문에서는 EHPS용 개발한 외접형 기어펌프의 토출유량측정실험을 수행하고 실험 데이터를 통하여 토 출유량을 계산할 수 있는 유량 근사식을 제안하였다. 제안한 유량 근사식의 검증을 위해 실험데이터 및 AMESim 유 량값과 비교하였고, 그 결과 각각의 유량특성간 오차율 5%내외로 유사성을 입증하였다. EHPS(Electro-Hydraulic Power Steering) is a system to generate the steering operation force from the electric motor connected directly to the oil pump. To optimize the manufacturing cost and efficiency of the performance of the steering system is very important. Until now, the development of the hydraulic system is implemented by the field test which needs a significant time and cost. In this paper, flow measurement of an external gear pump is performed. Then using the experimental results, an approximate model expressed by flow rate characteristics is proposed to calculate the discharge flow rate. Proposed approximate model is verified by comparing with the experimental data and AMESim results. As the experimental data and AMESim results agree well, the approximate model data can be used as an alternative to highly cost experimental procedure.

RV 차량용 싱킹 시트의 용접 품질 검사 시스템 개발

윤상환(Sang-Hwan Yun),김한종(Han-Jong Kim),김성관(Sung-Gaun Kim) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.1

This paper presents a vision based autonomous inspection system for welding quality control of a RV sinking seat. In order to overcome the precision error that arises from a visible inspection by an operator in the manufacturing process of a RV sinking seat, the machine vision based welding quality control system is proposed. It consists of the CMOS camera and the NI vision system. The geometry of the welding bead, which is the welding quality criteria, is measured by using the captured image with a median filter applied on it. The image processing software for the system was developed using the NI LabVIEW software. The proposed welding quality inspection system for RV sinking seat was verified using experimentation.

배터리 교환형 전기 이륜차 활성화를 위한 프레임 강건 설계

김상현(Sang-Hyun Kim),김가은(Gaun Kim),나다율(Dayul Na),박정우(Jungwoo Park),유다혜(Dahae Yu),노광현(Kwanghyun Rho),이재상(Jaesang Lee),주승돈(Seoungdon Zu) 한국기계가공학회 2020 한국기계가공학회지 Vol.19 No.12

Recently, eco-friendly electric motorcycles have been considered to replace aging gasoline motorcycles to reduce the amount of suspended fine dust in air. However, existing rechargeable battery-powered electric motorcycles have been found unacceptable by users because of their many limitations, such as long charging time, short travel distance per charge, and low driving speed. To overcome the drawbacks of conventional electric motorcycles, this paper proposes an exchangeable battery-powered electric motorcycle and a new frame shape for housing the exchangeable battery. The proposed frame is similar to that of current electric motorcycles; however, the shape and position of the saddle support, battery, and controller mount section are redesigned. The safety of the presented frame is verified through static and dynamic analyses using ABAQUS. In particular, the dynamic analysis is conducted under the most extreme condition among the various operating situations, thus confirming the robustness of the proposed frame design.

Inverse and Forward Force Transmission Analyses of Parallel Manipulators using Dimensionally Homogeneous Jacobian Matrices

김성관(Sung-Gaun Kim),류제하(Jeha Ryu) 대한기계학회 2003 대한기계학회 춘추학술대회 Vol.2003 No.11

In order to avoid the unit inconsistency problem in the conventional Jacobian matrix, previously we<br/> presented new formulation of a dimensionally homogeneous inverse Jacobian matrix for parallel manipulators<br/> with a planar mobile platform by using three end-effector points based on the velocity relationship [1]. This<br/> paper presents force relationships between joint forces and Cartesian forces at the three End-Effector points.<br/> The derived force relationships can then be used for analyses of the input/output force transmission. These<br/> analyses, forward and inverse force transmission analyses, depend on the singular values of the derived<br/> dimensionally homogeneous Jacobian matrix. Using the proposed force relationship, a numerical example is<br/> presented for actuator size design of a 3-RRR planar parallel manipulator.

햅틱인터페이스를 이용한 나노스케일 가상표면에서의 나노리소그래피

김성관(Sung-Gaun Kim) 한국표면공학회 2006 한국표면공학회지 Vol.39 No.2

Nanoscale task such as nanolithography and nanoindenting is a challenging work that is beyond the capabilities of human sensing and precision. Since surface forces and intermolecular forces dominate over gravitational and other more intuitive forces of the macro world at the nanoscale, a user is not familiar with these novel nanoforce effects. In order to overcome this scaling barrier, haptic interfaces that consist of visual and force feedback at the macro world have been used with an Atomic Force Microscope (AFM) as a manipulator at the nanoscale. In this paper, a nanoscale virtual coupling (NSVC) concept is introduced and the relationship between performance and impedance scaling factors of velocity (or position) and force are explicitly represented. Experiments have been performed for nanoindenting and nanolithography with different materials in the nanoscale virtual surface. The interaction forces (non contact and contact nanoforces) between the AFM tip and the nano sample are transmitted to the operator through the haptic interface.