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로봇 매니퓰레이터의 힘제어를 위한 퍼지 학습제어에 관한 연구
황용연 한국마린엔지니어링학회 2002 한국마린엔지니어링학회지 Vol.26 No.5
A fuzzy learning control algorithm is proposed in this paper. In this method, two fuzzy controllers are used as a feedback and a feedforward type. The fuzzy feedback controller can be designed using simple knowledge for the controlled system. On the other hand, the fuzzy feedforward controller has a self-organizing mechanism and therefore, it does not need any knowledge in advance. The effectiveness of the proposed algorithm is demonstrated by experiment on the position and force control problem of a parallelogram type robot manipulator with two degrees of freedom. It is shown that the rapid learning and the robustness can be achieved by adopting the proposed method.
B첨가에 의한 강 및 주철의 기계적 성질에 미치는 효과
황용연,권오헌 대한기계학회 1994 대한기계학회논문집 Vol.18 No.9
The advancement of the mechanical properties of metal materials caused by a recent high technology contributes to the stability and productivity of mechanical structures. However, the advanced mechanical properties depends on the conditions of crystal boundaries and the improvement of the texture. Although the tensile strength and a hardness of a steel would be increased by the adding B, it seems to be a marked decreases of the toughness which caused in the weaken workability. This study is concerned with a characteristics of the B compound which will be mixed with $H_3BO_3$ and the metallic magnesium. What affected in the mechanical property and texture is checked by the strength and the texture test. As a result, it is shown that the improvement of the mechanical property and the texture homogeneity. In addition, it seems that a molten metal which is added by the B compound is deoxized and cleansed.