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무고정 조립작업을 위한 협조로봇 매니퓰레이터의 제어에 관한 연구
최형식,Choi, Hyeung-Sik 대한기계학회 1997 大韓機械學會論文集A Vol.21 No.8
This paper proposes the modeling of the dynamics of two cooperating robot manipulators performing the assembly job such as peg-in-hole while coordinating the payload along the desired path. The mass and moment of inertia of the manipulators and the payload are assumed to be unknown. To control the uncertain system, a robust control algorithm based on the computed torque control is proposed. Usually, the robust controller requires high input torques such that it may face input saturation in actual application. In this reason, the robust control algorithm includes fuzzy logic such that the magnitude of the input torque of the manipulators is controlled not to go over the hardware saturation while keeping path tracking errors bounded. A numerical example using dual three degree-of-freedom manipulators is shown.
최형식,신희영,오지윤,이상섭,Choi, Hyeung-Sik,Shin, Hee-Young,Oh, Ji-Youn,Lee, Sang-Seop 한국전기전자재료학회 2012 전기전자재료학회논문지 Vol.25 No.10
In this paper, a temperature control for LED (light emitting diode) lamp using a cooling fan is studied. An efficient temperature control scheme for the LED lamp using the fan wind at the lowest sound noise is studied. For the study, after measurement of the minimum sound noise of the fan and related temperature of the LED lamp through tests, experiments on temperature control of the LED lamp using the fan with various size of heat sinks was performed. To reduce the fan sound noise, a method of reducing the operation time with optimal size of the heat sink was studied. Also, a control of LED lamps using RF communication was studied.