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公开(公告)号：KR1020120074809A
公开(公告)日：2012-07-06
申请号：KR1020100136756
申请日：2010-12-28
Applicant: 한국과학기술원
Abstract: PURPOSE: A torque sensor and a robot in which the torque sensor is applied are provided to preciously measure a torque generated in a torque generator without errors caused by a gap between components. CONSTITUTION: A torque sensor and a robot in which the torque sensor comprises a torque generator(10), a transformation unit, and a sensor unit(40). The torque generator rotates around a fixing unit with a rotator by being joined to the rotator. The transformation unit is arrange between the torque generator and the fixing unit and formed into one body with the torque generator and the fixing unit. The transformation unit is consisted of a material in which an elastic transformation is possible and transformed in order to allow rotation of the torque generator around the fixing unit and recovered to an original position after the transformation. The sensor unit senses an extent of the transformation of the torque generator to the fixing unit.
Abstract translation: 目的：提供扭矩传感器和其中施加扭矩传感器的机器人，以便在扭矩发生器中产生的转矩产生误差，而不会由部件之间的间隙引起误差。 构成：扭矩传感器和机器人，其中扭矩传感器包括扭矩发生器（10），变换单元和传感器单元（40）。 转矩发生器通过与转子接合而围绕具有转子的定影单元旋转。 转换单元布置在扭矩发生器和固定单元之间，并与扭矩发生器和定影单元形成一体。 变换单元由能够进行弹性变形而进行变形的材料构成，以使扭矩发生器能够在定影单元周围旋转，并在变形后恢复到初始位置。 传感器单元感测到转矩发生器与定影单元的变换的程度。
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公开(公告)号：KR1020110023927A
公开(公告)日：2011-03-09
申请号：KR1020090081718
申请日：2009-09-01
Applicant: 한국과학기술원
Abstract: PURPOSE: The reduced-order modeling method of a dual chamber pneumatic vibration isolator and the time delay controlling method of the pneumatic vibration isolator using the same are provided to obtain a reduced-order model with respect to the dual chamber pneumatic vibration isolator. CONSTITUTION: The reduced-order modeling method of a dual chamber pneumatic vibration isolator includes the following: a linear equation is induced based on an enthalpy equation and the continuity equation of the inside of an assistant tube. The output of the pneumatic vibration isolator is continuously differentiated. A relational expression between the differential value of the output of the pneumatic vibration isolator and the control input of the pneumatic vibration isolator is induced.
Abstract translation: 目的：提供双室气动隔振器的降序建模方法和使用其的气动隔振器的时间延迟控制方法，以获得相对于双室气动隔振器的降序模型。 构成：双室气动隔振器的降阶建模方法包括：基于焓方程和辅助管内部的连续性方程，引入线性方程。 气动隔振器的输出连续不同。 引起气动隔振器的输出的差分值与气动隔振器的控制输入之间的关系表达式。
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公开(公告)号：KR1020100117233A
公开(公告)日：2010-11-03
申请号：KR1020090035870
申请日：2009-04-24
Applicant: 한국과학기술원
Abstract: PURPOSE: A method for controlling time delay and a pneumatic vibration isolator using the same are provided to simultaneously isolate direct vibration occurred in the ground and equipment using one accelerometer. CONSTITUTION: A method for controlling time delay is as follows. A time delay control uses a fluid flow as a control input. Time delay is determined(S410). A damping ration and a natural frequency are determined(S420). A positive constant for indicating uncertainty of control pressure is determined(S430).
Abstract translation: 目的：提供一种控制时间延迟的方法和使用该方法的气动隔振器，以使用一个加速度计同时隔离地面和设备发生的直接振动。 构成：控制时间延迟的方法如下。 时间延迟控制使用流体流作为控制输入。 确定时间延迟（S410）。 确定阻尼比和固有频率（S420）。 确定用于指示控制压力不确定度的正常数（S430）。
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公开(公告)号：KR101250592B1
公开(公告)日：2013-04-03
申请号：KR1020100136756
申请日：2010-12-28
Applicant: 한국과학기술원
Abstract: 본 발명은 토크 센서와 관한 것이다. 본 발명에 의한 토크 센서는, 회전체에 결합됨으로써 그 회전체와 함께 고정부에 대해 회전되는 토크 발생부; 상기 토크 발생부와 고정부 사이에 배치되고, 상기 토크 발생부 및 고정부와 함께 일체로 형성되며, 상기 토크 발생부의 고정부에 대한 회전을 허용하도록 변형이 가능하고 변형 후 원래의 위치로 복원될 수 있도록 탄성변형 가능한 재질로 이루어지는 변형부; 및 상기 토크 발생부의 고정부에 대한 변형 정도를 센싱하기 위한 센서부;를 포함하여 이루어지는 것을 특징으로 한다.
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公开(公告)号：KR101141917B1
公开(公告)日：2012-05-03
申请号：KR1020090118969
申请日：2009-12-03
Applicant: 한국과학기술원
Abstract: PURPOSE: A time delay control method using gradient estimation for a robot manipulator and a controller of a robot manipulator using the same are provided to restricts the influence of nonlinear friction without chattering in tracking response by effectively compensating a time delay estimation error. CONSTITUTION: A time delay control method using gradient estimation for a robot manipulator under nonlinear friction is as follows. The torque of an actuator of a robotic manipulator is expressed by an equation that includes an estimated gradient for compensating a time delay estimation error. The estimated gradient functions as a high-pass filter for a time delay estimation error.
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Patent Agency Ranking
公开(公告)号：KR1020120037128A
公开(公告)日：2012-04-19
申请号：KR1020100098700
申请日：2010-10-11
Applicant: 한국과학기술원
Abstract: PURPOSE: A method for estimating the external force of a robot system using Time-Delay Estimation is provided to accurately estimate the external force of a robot system without robot dynamics. CONSTITUTION: A method for estimating the external force of a robot system using Time-Delay Estimation is as follows. A first TDE estimate is stored in a memory so that a robot can copy a constrained motion at a free space. A second TDE estimate is calculated when the robot touches constrained environment at a constrained space. The external force of the robot is calculated in real time through the difference between the first and second TD estimates.
Abstract translation: 目的：提供一种使用时间延迟估计来估计机器人系统的外力的方法，以精确估计机器人系统的外力，而无需机器人动力学。 构成：使用时间延迟估计估计机器人系统的外力的方法如下。 第一TDE估计被存储在存储器中，使得机器人可以在自由空间中复制约束运动。 当机器人在受约束的空间接触约束环境时，计算第二个TDE估计。 通过第一和第二TD估计之间的差值实时计算机器人的外力。
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公开(公告)号：KR1020110066262A
公开(公告)日：2011-06-17
申请号：KR1020090122832
申请日：2009-12-11
Applicant: 한국과학기술원
CPC classification number: B25J9/1648 , G06F17/10
Abstract: PURPOSE: A robust tracking model under non-linear friction utilizing time delay control with an internal model is provided to improve the performance of the time delay control based on the perfect control characteristics of internal model control by applying an internal model in the time delay control. CONSTITUTION: Demand error dynamic mechanics about each joint is decided. Demand natural frequency and damping constant are selected. A sampling time interval of a closed loop system is selected in consideration of the speed of the hardware of a controller.
Abstract translation: 目的：提出利用内部模型的时间延迟控制下非线性摩擦的鲁棒跟踪模型，通过在时间延迟控制中应用内部模型，提高基于内部模型控制的完美控制特性的时间延迟控制性能 。 构成：决定每个关节的需求误差动力学。 选择需求固有频率和阻尼常数。 考虑到控制器硬件的速度来选择闭环系统的采样时间间隔。
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公开(公告)号：KR101233432B1
公开(公告)日：2013-02-14
申请号：KR1020100098700
申请日：2010-10-11
Applicant: 한국과학기술원
Abstract: 본 발명은 시간지연추정을 이용하여 로봇에 작용하는 외력을 추정하는 방법에 관한 것으로, 구체적으로는 시간지연추정을 이용하여 로봇에 작용하는 외력을 추정하는 방법으로서, 로봇이 자유 공간(free surface) 상에서 구속동작(constrained motion)을 모방하도록 선행 실험을 하여 제1 시간지연추정치 를 메모리에 저장하는 제1 단계와, 로봇이 구속 공간(constrained space) 상에서 구속 환경(constrained environment)에 접촉하는 접촉 상황하에서 제2 시간지연추정치 를 계산하는 제2 단계와, 계산된 제2 시간지연추정치 와 메모리에 저장된 제1 시간지연추정치 의 차이를 통해 실시간으로 외력을 계산하는 제3 단계를 포함하는, 시간지연추정을 이용하여 로봇에 작용하는 외력을 추정하는 방법에 관한 것이다.
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公开(公告)号：KR101181183B1
公开(公告)日：2012-09-18
申请号：KR1020090081718
申请日：2009-09-01
Applicant: 한국과학기술원
Abstract: 본 발명은 듀얼챔버 공압제진대의 수학적인 모델에서 차수를 감소시킨 차수감소모델을 제안하며, 차수감소모델에서 기초하여 도출된 차수감소 시간지연제어 방법 및 이를 이용한 듀얼챔버 공압제진대에 관한 것이다. 본 발명의 차수감소 시간지연 제어방법은 유량의 흐름을 제어 입력으로 하며, 입력출력 선형화 방법에 의해서 듀얼챔버 공압제진대의 수학적인 모델의 차수를 감소시킬 수 있고, 듀얼챔버 공압제진대가 하나의 가속도계를 이용하여 지반 진동과 장비에서 발생되는 직접적인 진동을 동시에 절연할 수 있다.
공압 제진대, 시간지연제어, 가속도계, 듀얼챔버 공압제진대-
公开(公告)号：KR1020120015704A
公开(公告)日：2012-02-22
申请号：KR1020100078046
申请日：2010-08-13
Applicant: 한국과학기술원
IPC: A61H1/02
CPC classification number: A61H1/0274 , A61H2201/1215 , A61H2201/1635 , A61H2201/165 , A61H2201/1659 , A61H2201/5061 , A61H2205/065
Abstract: PURPOSE: An exoskeleton robot shoulder mechanism for rehabilitation of a patient with stroke is provided to enhance patient's convenience and stability. CONSTITUTION: An exoskeleton robot shoulder mechanism for rehabilitation of a patient with stroke comprises: a pair of XY coordinate bars(11,12) which forms XY coordinate and movably and rotationally coupled each other; a Z-axis coordinate bar(13) which is mounted to lift on one of the XY coordinate bars; a brachial guide bar(14) which is rotationally coupled to the Z-axis coordinate bar and guides brachial motion; a sensor for detecting rotation force and torque of the brachial guide bar; and a plurality of motors.
Abstract translation: 目的：提供一种用于卒中患者康复的外骨骼机器人肩部机构，以增强患者的便利性和稳定性。 构成：用于卒中患者康复的外骨骼机器人肩部机构包括：一对XY坐标杆（11,12），其形成XY坐标并且可移动地并且旋转地彼此耦合; Z轴坐标杆（13），其安装成在XY坐标杆之一上提升; 臂部引导杆（14），其旋转地联接到Z轴坐标杆并且引导肱动作; 用于检测肱动脉引导杆的旋转力和扭矩的传感器; 和多个电动机。
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