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Model-based Reference Trajectory Generation for Tip-based Learning Controller
Sungsoo Rhim,Soon-Geul Lee,Tae Gyoon Lim 대한기계학회 2005 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.19 No.1S
The non-minimum phase characteristic of a flexible manipulator makes tracking control of Its tip difficult The level of the tip tracking performance of a flexible manipulator is significantly affected by the characteristics of the tip reference trajectory as well as the characteristics of the flexible manipulator system This paper addresses the question of how to best specify a reference trajectory for the tip of a flexible manipulator to follow m order to achieve the objectives of reducing tip tracking error, residual tip vibration, and the required actuation effort at the manipulator joint A novel method of tip-based learning controller for the flexible manipulator system is proposed in the paper, where a model of the flexible manipulator system With a command shaping filter is used to generate a smooth and realizable tip reference trajectory for a tip-based learning controller<br/>
Zare, Yasser,Rhim, Sungsoo,Garmabi, Hamid,Rhee, Kyong Yop Elsevier 2018 Journal of the mechanical behavior of biomedical m Vol.80 No.-
<P><B>Abstract</B></P> <P>The networks of nanoparticles in nanocomposites cause solid-like behavior demonstrating a constant storage modulus at low frequencies. This study examines the storage modulus of poly (lactic acid)/poly (ethylene oxide)/carbon nanotubes (CNT) nanocomposites. The experimental data of the storage modulus in the plateau regions are obtained by a frequency sweep test. In addition, a simple model is developed to predict the constant storage modulus assuming the properties of the interphase regions and the CNT networks. The model calculations are compared with the experimental results, and the parametric analyses are applied to validate the predictability of the developed model. The calculations properly agree with the experimental data at all polymer and CNT concentrations. Moreover, all parameters acceptably modulate the constant storage modulus. The percentage of the networked CNT, the modulus of networks, and the thickness and modulus of the interphase regions directly govern the storage modulus of nanocomposites. The outputs reveal the important roles of the interphase properties in the storage modulus.</P>
Summary of recent standardization activities in the field of robotics
Moon, Seungbin,Rhim, Sungsoo,Cho, Young-Jo,Park, Kwang-Ho,Virk, Gurvinder S. Cambridge University Press 2013 Robotica Vol.31 No.2
<B>SUMMARY</B><P>This paper summarizes the recent standardization activities in the field of robotics by ISO (International Organization for Standardization), IEC (International Electrotechnical Commission), OMG (Object Management Group), and other organizations. While the standards in industrial robots have been mainly developed by ISO, the standards on the emerging service robots are initiated by many organizations. One of the goals of this paper is to coordinate the efforts among these groups so that more effective standardization activity can be executed. Standardization in the emerging service robots will eventually promote the proliferation of service robot markets in the near future.</P>
이진호(JinHo Lee),임성수(SungSoo Rhim),이순걸(SoonGeul Lee) 한국정밀공학회 2005 한국정밀공학회 학술발표대회 논문집 Vol.2005 No.10월
Having flexibility in a manipulator will degrade trajectory tracking control and manipulator tip positioning. In practice, however, constraints imposed by various operating requirements, will render the presence of such flexibility unavoidable. The dynamic analysis of the flexible manipulator is essential in designing proper control systems. A flexible manipulator consists of infinite number of elastic modes and the modes are usually coupled to each other. For the practicality, however, it is usually assumed that the flexible system consists of finite number of elastic modes and the modes are decoupled. These assumptions result in a linear and decoupled mathematical model of the flexible manipulator and simplify the analysis of the dynamic behavior and the design of the control system. The decoupling and linearization of the flexible link, however, has been assumed without in depth analysis. This paper focuses on the analysis of the significance of the non-linear coupling factors.
개선된 인간모델 기반 실시간 협동로봇 안전속도 적응 알고리즘
이지현(Jihyun Lee),임성수(Sungsoo Rhim) 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.11
In this paper, a simulation that satisfies the Speed and Separation Monitoring (SSM) among the four cooperative modes suggested by ISO/TS 15066 was implemented. Unlike previous papers that expressed a human model in a simple spherical shape, human and robot model was implemented as a cylinder to more accurately calculate the distance between the human and the robot. In addition, two points with a high risk of collision between the robot and humans were selected, and the speed at which the current distance satisfies the protective separation distance during robot operation was calculated and applied using Newtons Method.