• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.410-410
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• 2000

Impedance control is recognised as one of the most proper control scheme to carry out the assembly tasks, since it can control the dynamic relationship between the manipulator and environment directly. However, it is well known that the contact force cannot be controlled directly using the impedance control. Also impedance parameters should be properly defined depending on the task to be performed. We propose a new position based impedance control, which has self-adjusted impedance parameters and can control the contact force explicitly, Impedance parameters, as time-varying parameters, are adjusted automatically based on the measured contact force and the position error during the task. A proposed algorithm was implemented on the peg-in-hole task with the industrial manipulator. We shows the effectiveness of proposed control method experimentally.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.24 no.4
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• pp.466-473
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• 2013

In this paper, a compact planar multi-loop self-resonant coil of high quality factor with a coaxial cross section is proposed for effective wireless charging. The proposed coil has high Q-factor and a resonant frequency of a coil can be easily controlled by adjusting distributed capacitance. For designing the coil, a self-inductance and a distributed capacitance are calculated theoretically. The self-inductance is calculated from the sum of the mutual energies between small circular loops that are made by dividing the cross section of the coil. To verify its properties and calculation results, the self-resonant coils are fabricated by using a coaxial cable with characteristic impedance of $50{\Omega}$. The measured frequencies are very consistent with the calculated ones. In addition, the resonant frequency can be adjusted slightly by the tuning parameter ${\gamma}$. The resonant coils are applied to a tablet PC, the Q-factors of the Tx and Rx resonant coils are 282 and 135, respectively. As a result of measurement when height between the two resonant coils is 4.4 cm, the power transfer efficiency is more than 80 % within a radius of 5 cm.