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급속한 성토시 비선형 해석을 통한 연약지반의 안전성 검토
도기훈(Do Ki Hoon),김무일(Kim Moo Il),이준석(Lee Jun Seok) 한국철도학회 2006 한국철도학회 학술발표대회논문집 Vol.- No.-
In this paper, nonlinear elasto-plastic analysis was performed to investigate the stability of the rapid embankment under undrained condition. The commercial code ABAQUS/Standard was used in the study. Resonant Column test (RC test) results and Ramberg-Osgood model were utilized to simulate the nonlinear behavior of soft clay. Ramgerg-Osgood model was tested whether it simulates the nonlinear behavior of the soil properly in first. Then the analysis result was compared with the previous research results. It was found that the Ramberg-Osgood model matched well with the soil behavior of soft clay in the rapid embankment under undrained condition.
고온 환경 단조공정 자동화를 위한 수직다관절 로봇의 실시간 작업경로 제어에 관한 연구
조상영(Sang-Young Jo),김민성(Min-Seong Kim),도기훈(Ki-Hoon Do),한성현(Sung-Hyun Han),하언태(Un-Tae Ha),심현섭(Hyun-Suk Shim),임창식(Chang-Sik Lim) 한국산업융합학회 2017 한국산업융합학회 논문집 Vol.20 No.1
This study proposes a new approach to control a trajectory control of vertical type articulated robot arm with six revolution joints by computed torque method for manufacturing process automation. The proposed control scheme takes advantage of the properties of the fuzzy controllers. The proposed method is suitable to control of the trajectory and path control in cartesian space for vertical type articulated robot manipulator for forging manufacturing process automation. The results is illustrated that the proposed fuzzy computed torque controller is more stable and robust than the conventional computed torque controller. This study is included with an analytical methodology of inverse kinematic computation for 6 DOF manipulators. And an intelligent PID based on feed forward fuzzy control structure is applied to control the working path control with disturbances caused by uncertainty parameters of the manipulator dynamic model. Lastly, the validity of proposed is verified by simulations and experiments.
휴머노이드 로봇 관절 아암의 운동학적 해석 및 모션제어에 관한 연구
정양근(Yang-Geun Jung),임오득(O-Duek Lim),김민성(Min-Seong Kim),도기훈(Ki-Hoon Do),한성현(Sung-Hyun Han) 한국산업융합학회 2017 한국산업융합학회 논문집 Vol.20 No.1
This study proposes a new approach to Control and trajectory generation of a 8 DOF human robot arm with computational complexity and singularity problem. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of research, we propose an analytical kinematics algorithm for a 8 DOF bipped dual robot arm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regarding to the end-effector pose. Performance of the proposed algorithm was verified by simulation test with various conditions. It has been verified that the trajectory planning using this algorithm.