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일반적인 플랜트에 대한 시간지연을 이용한 제어기법의 안정성 해석
권오석,장평훈,정제형,Kwon, Oh-Seok,Chang, Pyung-Hun,Jung, Je-Hyung 대한기계학회 2002 大韓機械學會論文集A Vol.26 No.6
Time Delay Control(TDC) is a robust nonlinear control scheme using Time Delay Estimation(TDE) and also has a simple structure. To apply TDC to a real system, we must design Time Delay Controller to guarantee stability. The earlier research stated sufficient stability condition of TDC for general plants. In that research, it was assumed that time delay is infinitely small. But, it is impossible to implement infinitely small time delay in a real system. So, in this research we propose a new sufficient stability condition of TDC for general plants with finite time delay. And the simulation results indicate that the previous sufficient stability condition does not work even for small time delay, while our proposed condition works well.
구속된 환경에서의 여유자유도 로봇의 기구학적 제어와 원자력 발전소 노즐댐 장 /탈착작업에의 적용
박기철,장평훈,김승호,Park, Ki-Cheol,Chang, Pyung-Hun,Kim, Seung-Ho 대한기계학회 1996 大韓機械學會論文集A Vol.20 No.12
In this paper, a closed-form formulation for inverse kinematics of robot manipulators with kinematic redundancy under the constrained environment has been derived using the Kuhn-Tucker condition, the extended Lagrange multiplier method and the working set method. The proposed algorithm satisfies the necessaryand sufficient conditions for optimization subject to equality and inequality constraints. In addition, computationally efficient kinematic control methods have been proposed using differential kinemetics and gradient projection mehtod. The effectiveness of the proposed methods has been demonstrated with a 4-dof planar robot, and then a 7-dof spatial robot as a practical application to the nozzle dam task in the Nuclear Power Plant.
뇌졸중 환자의 일상생활 동작 훈련을 위한 1자유도 손 재활 로봇 설계
구광민(Gwang Min Gu),장평훈(Pyung Hun Chang),손민균(Min Kyun Sohn),신지현(Ji Hyeon Shin) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.9
In this paper, a novel 1 DOF hand rehabilitation robot is proposed in consideration of ADL training for stroke patients. To perform several ADL trainings, the proposed robot can move the thumb part and the part of 4 fingers simultaneously and realize the full ROM (Range of Motion) in grasp. Based on these characteristics, the proposed robot realizes several types of grasp such as cylindrical grasp, lateral grasp, and pinch grasp by using a passive revolute joint that can change the thumb movement direction. The movement of the thumb is driven by a cable mechanism and the part of 4 fingers is moved by a four-bar linkage mechanism.
구광민(Gwang Min Gu),장평훈(Pyung Hun Chang) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.3
This paper proposes a signle-joint optical toqrue sensor with one body structure. Conventional optical torque sensors consist of three parts, two plates and an elastic structure. They have slightly slipping problem between plates and elastic structure due to the manufacturing tolerance. Since the order of measurement range of optical sensor is about ten micrometers, the slipping problem causes large measurement error, especially in the case of vibrational or high speed plant. This problem does not occur in the proposed design due to the one body structure. The proposed sensor has advantage of low cost, light weight, and small size. And it is easy to design and manufacture. Simulation sorks that analysis of stress and strain are performed accurately. To demonstrate the performance of proposed sensor, experiments were implemented to compare with a commerical force/torque sensor(ATI Mini45).