• Journal of Biomedical Engineering Research
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• v.24 no.4
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• pp.309-318
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• 2003

In this paper a 6 degree-of-freedom robot was studied for medical purpose. In the past the robot used for industry field was utilized for medical robot but in these days the robot used for rehabilitation. welfare, and service. This system was Proposed for a stroke patient or a patient who can not use one arm. A master-slave system was constructed to exercise either paralysis or abnormal arm using normal arms movement. Study on the human body motion result was applied to calculate a movement range of humans elbow and shoulder. In addition, a force-torque sensor is applied to estimate the rehabilitation extent of the patient in the slave robot. Therefore, the stability of the rehabilitation robot could be improved. By using the rehabilitation robot, the Patient could exercise by himself without any assistance In conclusion. the proposed system and control algorithm were verified by computer simulation and system experiment.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.23 no.1
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• pp.75-82
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• 2014

For accurate gain tuning of the lab-manufactured six-axis articulated robot RS2 with less noise, in this study, a program routine using dynamic signal analyzer, which is a realization of a controller design algorithm in the frequency domain, is programmed using LabVIEW$^{(R)}$. The contribution of this paper is the proposal of a simulation technique based on SolidWorks$^{(R)}$ and LabVIEW$^{(R)}$ for the gain tuning of a six-axis articulated robot. To realize the simulation, the LabVIEW$^{(R)}$ program used for experimental gain tuning is incorporated in to SolidWorks$^{(R)}$. A comparison shows that the results of simulation-based gain tuning and experimental gain tuning are almost the same within a 5% error bound. On the basis of the comparison, it can be suggested that the simulation-based technique for gain tuning can be applied instead of experimental gain tuning to a six-axis articulated robot by interlocking SolidWorks$^{(R)}$ and LabVIEW$^{(R)}$.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.24 no.3
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• pp.327-333
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• 2015

As industrial robots come into wider use, their control techniques are being developed along with enhancements in their performance. Specially, the dynamic performance of a 6-axis articulated industrial robot is greatly changed according to the position and orientation of the robot. This means that the PI parameter tuning of the robot and orientation of the robot. This mconsidering the dynamic characteristics of robot mechanism. In this study, $LabView^{(R)}$ programming was applied to automatically conduct parameter scheduling for various robot motions. Using forward and inverse kinematics of RS2, we can divide the working envelope of RS2 into 24 subspaces. We then conduct the gain-tuning according to each subspace. Finally, we program the actual gain scheduling, in which the optimized gain-tuning for each subspace to be passed should be changed for various robot motions using $LabView^{(R)}$.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.3
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• pp.337-351
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• 2019

We Proposed a new technology to develop vertical type multi-joint robot system enable to adapt in high temperature environment. The main contents is a new approach to design a vertical type articulated robot with prismatic joint and analysis of thermal for process automation of casting and forging. The proposed robot is suitable to use handling working parts of casting and forging. for the manufacturing process of forging and casting. The reliability is illustrated that the proposed technique is more stable and robust than the conventional system. This study is concerned with an analytical methodology of kinematic computation for 7 DOF manipulators for optimization of forging manufacturing process.