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모멘트 관측기 기반 충돌 감지 기법의 민감도 변화에 따른 임계점 선정 기법
윤태준(Taejoon Yoon),임성수(Sungsoo Rhim) 대한기계학회 2018 대한기계학회 춘추학술대회 Vol.2018 No.12
Unlike conventional industrial robots collaborative robots share the workspace between workers and robots. So it becomes more important to secure the safety of workers for the collision. Previous studies have proposed a solution for safety system in three phase; the pre-collision phase, the collision phase, and the post-collision phase. The collision detection method based momentum observer has a blind direction in used the collision phase the method which cannot detect the collision force according to the particular robot posture and the collision direction. In this paper, we simulate momentum observer algorithm using UR5 model and analyze the sensitivity of the collision detection and analyze the characteristics of the blind direction. Existing momentum observer methods have limited use for its computational cost to calculate the inverse jacobian matrix. In this paper, we propose a simple threshold selection criteria based on the sensitivity analysis. It also decreases the computational cost and improves the efficiency of method in real-time system. For the validation of the method proposed, several simulations results are included are conducted in this paper.
라요한(Yohan La),최한순(Hansoon Choi),윤태준(Taejoon Yoon),김현건(Hyungun Kim),남윤수(Yoonsu Nam) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.5
This paper is about real-time simulation of wind turbine. Wind turbine is controlled using GH Bladed Hardware Test Module and External control. First, this paper explains that default configuration of Hardware interface. Next, mention about Preparation and Concepts for driving Bladed Hardware Test. The control system consists of torque control and pitch control. I/O port between Bladed Hardware Test and external control connection to the controls. Finally, some simulation results for external control control to a MW wind turbine are discussed in this paper.
인간-로봇 충돌 안전성 평가를 위한 돼지 피부 충돌 실험 결과의 의학적 분석
한도연(Doyeon Han),박문영(Moon Young Park),최준석(Junsuk Choi),윤태준(Taejoon Yoon),임성수(Sungsoo Rhim) 대한기계학회 2017 대한기계학회 춘추학술대회 Vol.2017 No.11
Over the past few years, the robot industry has evolved rapidly and collaboration between the industrial robot and human has increased. From this point of view, many studies about robot safety index have been conducted recently. And most of those studies, only single factor among many important ones was dealt with per paper as an index of safety. But single quantity cannot capture the complex behavior of human body parts. In this paper, macroscopic and microscopic observation and injury classification with medical-oriented analysis are considered as safety criteria. Microscopic observation is conducted by microscope with hematoxylin and eosin stained tissue specimen and those results are analyzed with newly developed injury classification. Indexing is derived from the data of pig skin impact experiment where we focused on the effect of the impact (or collision) velocity, the impactor (a model of the robot which would collide with the human) mass and the impactor fillet radius. Consequently, the limitations of velocity depending on the impact conditions are presented.