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A Study on Modeling of Pneumatic System for an IDC Device
웬치탄,레광환,정영만,양순용 사단법인 유공압건설기계학회 2015 드라이브·컨트롤 Vol.12 No.3
An intelligent deburring control (IDC) device is used to control the constant force for a deburring tool mounted on the end-effector of a robotic arm. This device maintains a constant contact force between the deburring tool and the workpiece in order to provide a good deburring performance. In this paper, we build a mathematical model in Matlab/Simulink to estimate the force control mechanism of the pneumatic system for the IDC device. The Simulink blocks are built for each separate part and are linked into an integrated simulation system. Such a model also relies on the effects of the flow rate through the valve, air compressibility in the cylinder, and time delay in the pressure valve. The results of the simulation are compared to a simple experiment in which convenient math modeling is performed. These results are then used to optimize the mechanical design and to develop a force control algorithm for the pneumatic cylinder.
Unified Approach for Force/Position Control in the Vehicle Body Sanding Process
웬치탄,이재우,양순용 사단법인 유공압건설기계학회 2017 드라이브·컨트롤 Vol.14 No.3
This study presents a methodology for simulating a unified approach that controls interaction force between tool and objective by using a synthesis method of robot interacting control law for stabilizing the transient process of motion. Root locus is used to analyze stabilization of motion deviation characteristics. Based on responses of motion deviation, contact force is derived to satisfy exponential stability and we generate control input with respect to motion trajectories and interaction force. Moreover, simulation is applied to experimental application of a Cartesian robot driven by two stepper motors, and the noise of feedback signals is considered as presence of system inaccuracies, and the unified approach of interaction force control is examined precisely.
공구와 작업물 사이에 힘과 운동의 상호작용 제어에 관한 연구
웬치탄(Chi-Thanh Nguyen),이재우(Jae Woo Lee),양순용(Soon Yong Yang) 유공압건설기계학회 2016 유공압건설기계학회 학술대회논문집 Vol.2016 No.11
This paper present a methodology for simulating the responses of interaction force between the tool and workpiece by using synthesis method of robot interacting control law for stabilizing the transient process of motions and contact forces. The root locus is used to analyze the stabilization of motion deviation characteristics. Basing on the responses of deviation, and contact force we generate the control input respect to motion trajectory and interaction force. Moreover, the simulation will be applied to real experiment, the noises of feedback signals will be considered as presence of system inaccuracies, and the interaction control law method will be examined perfectly.
A Study on Modeling of Pneumatic System for an IDC Device
C. T. Nguyen(웬치탄),Q. H. Le(레광환),Y. M. Jeong(정영만),S. Y. Yang(양순용) 유공압건설기계학회 2015 드라이브·컨트롤 Vol.12 No.3
An intelligent deburring control (IDC) device is used to control the constant force for a deburring tool mounted on the end-effector of a robotic arm. This device maintains a constant contact force between the deburring tool and the workpiece in order to provide a good deburring performance. In this paper, we build a mathematical model in Matlab/Simulink to estimate the force control mechanism of the pneumatic system for the IDC device. The Simulink blocks are built for each separate part and are linked into an integrated simulation system. Such a model also relies on the effects of the flow rate through the valve, air compressibility in the cylinder, and time delay in the pressure valve. The results of the simulation are compared to a simple experiment in which convenient math modeling is performed. These results are then used to optimize the mechanical design and to develop a force control algorithm for the pneumatic cylinder.
A Study on Modeling of Pneumatic System foran IDC Device
C. T. Nguyen(웬치탄),Q. H. Le(레광환),Y. M. Jeong(정영만),S. Y. Yang(양순용) 유공압건설기계학회 2015 유공압건설기계학회 학술대회논문집 Vol.2015 No.6
IDC (intelligent deburring control) device is used to control constant force for deburring tool mounted on end-effector of robot arm. This device is to maintain a constant contact force between deburring tool and workpiece in order to guarantee good deburring performance. In this paper, we build a mathematical modeling on Matlab/Simulink for estimating the force control mechanism of IDC device’s pneumatic system. The Simulink blocks are built for each separated part, and linked into an integrated simulation system. Such model is also built basing on effects of flow rate through the valve, air compressibility in cylinder, time delay of pressure valve. The simulation results are compared with the some simple experiment aiming to perform convenient math modeling. Basing on these results we will optimize mechanical design and develop the force control algorithm for pneumatic cylinder.
Study on Turn-over Stability for Field Robot with Swinging Manipulator
Chi Thanh Nguyen(웬치탄),Y. H. Lee(이영현),S. Y. Yang(양순용) 유공압건설기계학회 2013 유공압건설기계학회 학술대회논문집 Vol.2013 No.6
The Field Robot is a kind of heavy machinery used in various applications worldwide, such as in agriculture, demolition, forestry, general construction, industry, mining and more. However, they pose a great danger to users and the surroundings when they turn over. In this paper, the motivation is the investigation of the stability of such machine without turning over. Therefore, when the manipulator rotates a circle, we compute the needed energy that is big enough to make such machine turning over. This energy, is interacted between external forces and moments and gravitational forces, is computed basing on concept of energy stability level. Similarly, this concept takes into consideration the instantaneous change of machine’s center of gravity position while the manipulator swings with a constant velocity. Moreover, inertial and manipulation effects usually appear in the motion of such vehicles when that are used for services or industrial applications. From the characteristics of stability are described in simulation results, we set necessary limits on swing velocity, operating zone … to ensure the safe of machine.
A Study of Stability for Field Robot using Energy Stability Level Method
C. T. Nguyen(웬치탄),Q. H. Le(레광환),Y. M. Jeong(정영만),S.Y. Yang(양순용) 유공압건설기계학회 2014 드라이브·컨트롤 Vol.11 No.3
In this research, the energy stability level method is used for examining the stable state of Field Robot under effects of swing motion, at particular postures of manipulator, and terrain conditions. The energy stability level is calculated by using the dynamic models of Field Robot, subjected to the concept of equilibrium plane and support boundary. The results, simulated by using computing program for estimating the potential overturning of Field Robot, supply useful predictions of stability analysis for designers and operators.
Unified Approach for Force/Position Control in the Car Body Sanding Process
C.T. Nguyen(웬치탄),J.W. Lee(이재우),S.Y. Yang(양순용) 유공압건설기계학회 2017 유공압건설기계학회 학술대회논문집 Vol.2017 No.5
This paper present a methodology for simulating the unified approach that controls the interaction force between the tool and objective by using synthesis method of robot interacting control law for stabilizing the transient process of motions. The root locus is used to analyze the stabilization of motion deviation characteristics. Basing on the responses of motion deviation, the contact force is derived to satisfy the exponential stability and we generate the control input respect to motion trajectories and interaction force. Moreover, the simulation will be applied to experimental application of Cartesian robot driven by two stepper motors, the noises of feedback signals will be considered as presence of system inaccuracies, and the unified approach of interaction force controlwill be examined perfectly.