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진상록(Sangrok Jin),배장호(JangHo Bae),박정애(Jeongae Bak),김홍민(Hongmin Kim),김종원(Jongwon Kim),서태원(TaeWon Seo) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
We developed an underwater robot with tilting thrusters and designed the selective switching controller for stable hovering motion. 6-DOF motion dynamics were divided into two 3-DOF subsystems according to tilting angle, and two PD controllers for each 3-DOF subsystems were designed. Selection logic switched between sub-controllers depending on the error of robot motion in real-time. The selection strategy has a major influence on the state trajectories under selective switching control. This paper compares with three selection strategies which have criterion of maximum value, average, and norm of errors. The characteristics of each strategy are analyzed from simulation results. This work can lay the base for optimal selection strategy.
김홍민(Hongmin Kim),진상록(Sangrok Jin),박수민(Sumin Park),김영수(Youngsoo Kim),김종원(Jongwon Kim) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
Total Knee Arthroplasty is a surgery of replacing a knee joint with artificial implants. The objectives of the surgery is to restore and correct the lower limb mechanical axis and alleviate pain in the knee joint. Various robotic systems have been proposed to accomplish high accuracy of the alignment of the lower limb mechanical axis and therefore precise cutting of the femur and tibia. These robotic systems for TKA have drawbacks such as increased surgery time and limitation of surgeon’s direct intervention. These drawbacks mainly arises from using the end mill for the cut and adopting an automated scheme of the process. We propose a novel surgical robotic platform that is able to effectively guide the surgeons during TKA. The robotic platform accurately locates the planes of cut and positions the cutting jig. Surgeons use the oscillating saw which they have been using in the conventional surgery, thus the user experiences the familiar force feedback when making the cut, while greatly reducing the load of human resources and surgery time.