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다자유도 수동식 중력보상장치 기반의 6자유도 산업용 로봇
안국현,송재복 한국로봇학회 2017 로봇학회 논문지 Vol.12 No.1
Static balance of an articulated robot arm at various configurations requires a torque compensating for the gravitational torque of each joint due to the robot mass. Such compensation torque can be provided by a spring-based counterbalance mechanism. However, simple installation of a counterbalance mechanism at each pitch joint does not work because the gravitational torque at each joint is dependent on other joints. In this paper, a 6 DOF industrial robot arm based on the parallelogram for multi-DOF counterbalancing is proposed to cope with this problem. Two passive counterbalance mechanisms are applied to pitch joints, which reduces the required torque at each joint by compensating the gravitational torque. The performance of this mechanism is evaluated experimentally.
센서리스 협동로봇의 직관적인 교시를 위한 직교공간 직접교시
안국현,송재복 한국로봇학회 2019 로봇학회 논문지 Vol.14 No.4
Direct teaching is an essential function for collaborative robots for easy use by non-experts. For most robots, direct teaching is implemented only in joint space because the realization of Cartesian space direct teaching, in which the orientation of the end-effector is fixed while teaching, requires a measurement of the end-effector force. Thus, it is limited to the robots that are equipped with an expensive force/torque sensor. This study presents a Cartesian space direct teaching method for torque-controlled collaborative robots without either a force/torque sensor or joint torque sensors. The force exerted to the end-effector is obtained from the external torque which is estimated by the disturbance observer-based approach with the friction model. The friction model and the estimated end-effector force were experimentally verified using the robot equipped with joint torque sensors in order to compare the proposed sensorless approach with the method using torque sensors.
동력 분기 하이브리드 전기 자동차의 운행 모드 시뮬레이션
안국현(Ahn, Kuk-Hyun),조성태(Cho, Sung-Tae),임원식(Lim, Won-Sik),박영일(Park, Yeong-Il),이장무(Lee, Jang-Moo) 한국신재생에너지학회 2006 신재생에너지 Vol.2 No.2
The power split hybrid powertrain is considered to be one of the most prospective configuration for the hybrid electric vehicle (HEV). Toyota Prius, representing this type of vehicle, showed outstanding performances in fuel efficiency, emission reduction and acceleration. The excellence is largely due to the fact that it utilizes almost all operation modes of HEV. Those modes include ZEV (Zero Emission Vehicle) driving, idle stop, fuel cut-off, power assist, active charging, regenerative braking and so forth. In this paper, a few of the mode operations were simulated using AVL Cruise. Also, control logics to operate the powertrain in each mode were developed. The states of powertrain components were displayed and analyzed. By controlling the three components (engine, motor and generator), it was possible to run the powertrain in several hybrid operation modes.
HEV 의 연비, 배기 가스 성능 향상을 위한 주행 전략 개발
안국현(Kukhyun Ahn),윤원석(Wonseok Yoon),박영일(Yeong-il Park),이장무(Jang Moo Lee) 한국자동차공학회 2003 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
Two of primary performances of diesel hybrid electric vehicles are enhanced fuel economy and reduced NOx emission. Achieving the two goals at the same time is difficult because the optimal operating regions for improving each performance indices are divided into two distinct regions in the case of diesel engines. In this paper, two attempts were made to achieve both goals by introducing a weighted sum optimization problem and an inequality constrained optimization problem when developing optimal control strategies. The ways to solve the problems were developed and the respective results from two attempts were compared.<br/>