• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.444-451
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• 2005

The analysis of human arm motion during steering maneuver is carried out for investigation of man-machine interface of driver and steering system Each arm is modeled as interconnection of upper arm, lower arm, and hand by rotational joints that can properly represents permissible joint motion, and both arms are connected to a steering wheel through spring and damper at the contact points. The joint motion law during steering motion is determined through the measurement of each arm movement, and subsequent inverse kinematic analysis. Combining the joint motion law and inverse dynamic analysis, joint stiffness of arm is estimated. Arm dynamic analysis model for steering maneuver is setup, and is validated through the comparison with experimentally measured data, which shows relatively good agreement. To demonstrate the usefulness of the arm model, it is applied to study the effect of steering column angle on the steering motion.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1997.04a
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• pp.113-118
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• 1997

This paper presents the dimensional synthesis and kinematic analysis of the RSCS-SSP motion generating spatial mechanism using the displacement matrix method. This type of spatial mechanisms is used for the Mcpherson suspension in small automobiles. It is modeled for the wheel bump/rebound and steering motion. First, the suspension is modeled as a multiloop spatial rigid body guidance mechanism for the two major motions. Then the design equations for SSP, RS, and SC strut links are applied to synthesize an RSCS-SSP for up to three prescribed positions for the steering motiom from the suspension design specification. Thus a RSCS-SSP mechanism which is synthesized is also analyzed for the displacement during the steering motion.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.11
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• pp.1391-1398
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• 2011

Biomechanical analysis of arm motion during steering was performed using a motion analysis technique. Three-dimensional position data for each part of arm are fed into an interactive model combining a musculoskeletal arm model and the mechanical steering system to calculate joint angles and torques using inverse kinematic and dynamic analyses, respectively. The analysis shows that elbow pronation/supination, wrist flexion/extension, shoulder adduction/abduction, and shoulder flexion/extension have significant magnitudes. Sensitivity analysis of the arm joint motion with respect to seating posture and steering wheel configuration is carried out to investigate the qualitative influence of the seating posture and driver's seat configuration on the steering behavior.

• Journal of Advanced Marine Engineering and Technology
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• v.40 no.2
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• pp.120-130
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• 2016

In general, a series of ship steering motions is composed of a combination of translational motions and rotational motions of the ship. In particular, a series of rotational motions frequently occurs in narrow areas such as ports and canal zones. In this paper, a method was suggested for composing an integrated control algorithm based on the jog dial as a command instrument for rotational motion control. In order to realize the rotational motions, several algorithms were suggested for generating rotational commands, for selecting motion variables, for choosing reference input values for the motion variables, for computing required accelerations and thrusts, and for allocating thrusts to actuators. A simulation program was compiled to execute simulations for three rotational motions. Finally, the effectiveness of the suggested method was verified by analyzing the simulation results.

• Journal of Industrial Technology
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• v.18
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• pp.241-248
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• 1998

In this study, a modeling method of power-assisted steering systems and driver models for vehicle dynamic analysis using AUTODYN7 is presented. Pressure-flow relations of flow control valve are derived, and the equations of motion of a steering gear are obtained. Combining pressure-flow relations and equations of motion, the steering force can be represented as a function of steering wheel angle or torque. Driver model was modeled based on a PID controller and forward target method. With the steering systems and driver model, various driving tests are conducted using AUTODYN7.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.9
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• pp.942-949
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• 2014

In this paper, a new steering system for a self-balancing electric scooter is proposed with an intuitive steering command input method, where the steering command is generated from the rider's motion of shifting body to move the center of gravity toward the rotational direction. For the purpose, weight distributions on the rider's feet are measured using force sensors placed beneath the rider's feet, and the difference is applied to a steering control system. Stability of the steering system and resultant radius of gyration is investigated by modeling the steering system in consideration of the rider's motion and centrifugal force. The proposed steering system is applied to experiments, and the results are presented to prove the validity of the proposed method.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.12 s.255
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• pp.1551-1556
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• 2006

Two yaw motion control systems that improve a vehicle lateral stability are proposed in this study: a rear wheel steering yaw motion controller (SESP) and an enhanced rear wheel steering yaw motion controller (ESESP). A SESP controls the rear wheels, while an ESESP steers the rear wheels and front outer wheel to allow the yaw rate to track the reference yaw rate. A 15 degree-of-freedom vehicle model, simplified steering system model, and driver model are used to evaluate the proposed SESP and ESESP. A robust anti-lock braking system (ABS) controller is also designed and developed. The performance of the SESP and ESESP are evaluated under various road conditions and driving inputs. They reduce the slip angle when braking and steering inputs are applied simultaneously, thereby increasing the controllability and stability of the vehicle on slippery roads.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.5
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• pp.65-73
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• 2001

In this paper, a mobile system using multi-wheel steering and driving mechanism is proposed to maximize maneuverability of the wheeled mobile system. Among various possible configurations, the two-wheel steering and driving systems, which is minimal in structural requirement, is proposed to reduce the complexity in actual design and difficulties in control. The system possesses three or four degrees of freedom depending on the orientations of two wheels, one or two for driving and two for steering, which implies that the system's mobility is always less than three DOF. The proposed system, nonetheless, can exactly emulate characteristics of the omnidirectional motion as long as the planned path is smooth i.e., the curvature changes continuously while velocity is not zero. Efficient kinematic and dynamic control algorithms are proposed for position and orientation control of the proposed wheeled mobile system.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.37.6-37
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• 2002

Omnidirectional mobile robots are capable of arbitrary motion in an arbitrary direction without changing the direction of wheels, because they can perform 3 degree-of-freedom (DOF) motion on a 2-dimensional plane. In this research, a new class of an omnidirectional mobile robot is proposed. Since it has synchronously steerable omnidirectional wheels, it is called an omnidirectional mobile robot with steerable omnidirectional wheels (OMR-SOW). It has 3 DOFs in motion and one DOF in steering. One steering DOF can function as a continuously variable transmission (CVT). CVT of the OMR-SOW increases the range of velocity ratio from the wheel velocities to robot velocity, which may improve...

• Journal of Astronomy and Space Sciences
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• v.23 no.4
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• pp.397-404
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• 2006

Geometric singularity problems are principle difficulties of single-gimbal control moment gyros in spacecraft attitude control. To overcome these singularities, many steering logics have been studied. In this paper, a new null motion steering law is suggested, which is based on the minimization of the directional components of output torque with respect to the required torque. The suggested steering law has been simulated and verified to work well around several critical singular points which have been classified as testing points of avoidance algorithm in previous literatures.