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Manipulability와 Manipulability Ellipsoid를 이용한 양팔 6 자유도 Manipulator의 Singularity 발생 판단과 경로의 분석
이종학(Jong-Hak Lee),방진욱(Jin-Uk Bang),조영임(Young-Im Cho),이장명(Jang-Myung Lee) 대한전자공학회 2020 대한전자공학회 학술대회 Vol.2020 No.8
In this paper, we judge whether the singularity occurs among the path of dual 6 DoF manipulator using manipulability, and analyze the characteristics in the velocity space of the straight path and alternative path what avoids the singularity using manipulability elipsoid. This allows better path to be determined in advance before following it. Experiments has confirmed that singularity occurs in straight path and eigenvalue in the direction of yaw is zero. In addition, the alternative path is identified as an improved path due to the large eigen value in the direction of pitch and yaw.
김대우(Dae-Woo Kim),방진욱(Jin-Uk Bang),이장명(Jang-Myung Lee) 제어로봇시스템학회 2021 제어·로봇·시스템학회 논문지 Vol.27 No.9
The high-speed driving performance of the Segway has been improved in this study using a SEA (Series Elastic Actuator) with a novel control algorithm. The Segway is a balancing robot that has been widely used as a personal vehicle. For the safety of the rider, a Segway should not deviate from the target path while driving at a high speed. The Segway is a fundamentally unstable system with only two wheels to keep the balance of a rider adjusting forward and backward. A limited number of models are equipped with special safety devices. In addition, there is a high probability of accidents during high-speed driving of curved paths. To maintain balance, and the rider’s safety, while driving on a curved path, SEAs have been utilized for compensating the centrifugal force of the rider by changing the angle of the footplate to shift the center of mass of the rider. In addition, a friction model-based torque compensation algorithm has been proposed to keep the Segway on the desired path. The performance of the proposed system has been verified through experiments that show the effectiveness of SEAs for maintaining balance on curving motions at a high speed.
[지능로봇] SEA를 이용한 고속 세그웨이의 주행 안정성 향상
윤하늘(Ha-Neul Yun),방진욱(Jin-Uk Bang),김지현(Ji-Hyeon Kim),이장명(Jang-Myung Lee) 대한전자공학회 2019 전자공학회논문지 Vol.56 No.4
최근, 퍼스널 모빌리티에 대한 연구와 상용화 제품 개발이 지속해서 진행되고 있다. 이로 인해 퍼스널 모빌리티의 성능은 점차 향상되어 개발되고 있으며, 성능 개발과 더불어 주행 중에 발생하는 위험 상황에 대한 대처 및 주행 안정성 확보가 필요한 실정이다. 그러나 대부분의 퍼스널 모빌리티 연구는 성능 및 제어기의 우수성에 집중되어 있으며 안정성 관련 연구는 미비한 실정이다. 따라서 본 논문에서는 퍼스널 모빌리티의 일종인 세그웨이 모델에 직렬 탄성 액추에이터를 추가하여 직진 및 선회 주행 시의 주행 안정성 향상을 위한 방법을 제안한다. 제안한 알고리즘의 성능은 직진 주행 및 선회 주행 실험을 통해 확인하였다. 두 실험을 통해 직진 및 선회 주행 시 탑승자의 안정성이 확보되는 것을 확인할 수 있었다. Recently, research and development of PM(personal mobility) such as the Segway, electronic unicycle have been developed continuously and related technologies have been continuously improved. However, most researches focus on the performance of the PM and the excellence of controller and there is little research on stability. So, it is necessary to deal with the dangerous situations and to secure the stability of driver. This study proposes the use of a SEA (Series Elastic Actuator) in a Segway model to improve the driving stability during curved and straight driving and , thus, improving the comfort of the driver and ensuring driving stability. This paper is mainly focused on the control method of the SEA for improvement of the driving stability. The performance of the algorithm suggested in this paper is verified by linear and curved driving experiments, thereby, confirming the improved the driving stability.
퍼스널 모빌리티에 적합한 Series Elastic Actuator 기반의 소형 전동식 Full-Active Suspension 시스템
박선호(Seon-Ho Park),방진욱(Jin-Uk Bang),윤하늘(Ha-Neul Yoon),이장명(Jang-Myung Lee) 대한전자공학회 2018 전자공학회논문지 Vol.55 No.5
차량에서 Suspension은 사용자의 승차감을 향상시켜주고 주행 시의 안정성을 높혀 준다. 현재 퍼스널 모빌리티에 관한 연구가 지속적으로 이루어지며 상용화 되고 있으며 향후, 고속기동이 가능한 퍼스널 모빌리티가 지속적으로 개발될 것으로 예상된다. 하지만 이러한 상황과는 달리 퍼스널 모빌리티에 적합한 Suspension은 연구가 미비한 실정이며, 따라서 퍼스널 모빌리티에 적합한 Suspension에 대한 연구가 요구될 것으로 예상된다. 기존의 차량용 Suspension은 일반적인 퍼스널 모빌리티에 비하여 그 크기가 매우 크고 무게가 무거워 적용에 큰 어려움이 있을 것으로 예상된다. 본 논문에서는 Series Elastic Actuator을 기반으로 소형 전동식 Full-Active Suspension 시스템을 제안한다. SEA는 Actuator에 스프링을 직렬로 연결한 단순한 구조로서 비교적 제작이 용이하며 유압 Actuator를 전동식으로 바꾸는 것으로 크기를 크게 줄일 수 있다. 대표적인 퍼스널 모빌리티인 세그웨이를 직접 설계 및 제작하고 제안된 서스펜션 시스템의 적용 유무에 따른 상하 성분의 움직임과 가속도를 측정하여 그 성능을 확인 하였다. Suspension in the vehicle improves the riding comfort and increases the safety during driving. Currently, research on personal mobility is ongoing and is being commercialized. In the future, the personal mobility with high speed is expected to be developed. However, away from this trend, the suspension system suitable for personal mobility has not been researched yet. A suspension system which is appropriate for personal mobility needs to be developed sooner or later. The conventional vehicle suspension systems are large and heavy in general, which are not suitable to apply for personal mobility. In this paper, a small electric FAS(Full-Active Suspension) system has been proposed based on SEA(Series Elastic Actuator). The SEA has a simple structure with spring connected in series to actuator. By changing the hydraulic actuator in the conventional SEA to electric type, it can be greatly reduced in size. An experimental Segway has been designed and fabricated, which is a typical personal mobility, to demonstrate the performance of the SEA during the movement and acceleration of up and down.
Active Suspension을 위한 직렬 탄성 액츄에이터 시뮬레이션
김지현(Ji-hyeon Kim),윤하늘(Ha-Nuel Yun),방진욱(Jin-Uk Bang),장홍위(ZHANG HONGYU),이장명(Jang-Myung Lee) 대한전자공학회 2018 대한전자공학회 학술대회 Vol.2018 No.11
Recently, actuators have been used in various fields and are being continuously developed. Actuators are mainly used in robots that require high positional accuracy and repeatability. Robust actuators have high control bandwidth and accuracy, while Series Elastic Actuators(SEA) allow flexible control with springs. Therefore, this paper proposes modeling and simulation of SEA for determining the spring constant used in SEA.