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한쌍의 6축 전기유압 매니퓰레이터를 이용한 힘 제어 (너트의 장착 및 체결 작업에의 응용)
안경관,양순용,Ahn, Kyung-Kwan,Yang, Soon-Yong 제어로봇시스템학회 2002 제어·로봇·시스템학회 논문지 Vol.8 No.1
An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the automatic assembly tasks using hydraulic manipulators. In this manuscript, we applied a compliance control, which is based on the position control by a disturbance observer for our manipulator system. A reference trajectory modification method is proposed in order to achieve accurate force control even though the stiffness and the position of the environment change. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved under various environment conditions. The proposed force control algorithm is applied to the approaching of bolt and the wrenching of nut tasks as one typical task in the maintenance work of live power electric line and is experimentally confirmed very effective for the task.
A New Design of Wave Energy Generator Using Hydrostatic Transmission
안경관(Ahn, Kyoungkwan),딩광졍(Dinh, Quangtruong),윤종일(Yoon, Jongil) 한국신재생에너지학회 2010 한국신재생에너지학회 학술대회논문집 Vol.2010 No.11
An innovative design of a floating-buoy wave energy converter (WEC) using hydrostatic transmission (HST), named HSTWEC, is presented in this paper. The system is designed to convert ocean wave fluctuation into electricity by using the HST circuit and an electric generator. Based on the floating-buoy concept, the wave forces the sub-buoy to move up and down. Consequently, the electric power can be obtained from the generator in both the moving directions of the sub-buoy through the HST circuit as shown in Fig. 1. In order to investigate the HSTWEC operations, a mathematical model of the system is indispensible. In addition, the method to control the HSTWEC, including: pump displacement control, tension adjustment control and ballast weight control, is also discussed in this paper. Finally, the design concept as well as simulation results indicated that this HSTWEC design is an effective solution and possible to fabricate for wave energy generation.