• Title/Summary/Keyword: 홍로

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A Minimum time trajectory planning for robotic manipulators with input torque constraint (입력 토오크 constraint를 가진 로보트 매니플레이터에 대한 최소 시간 궤적 계획)

  • Hong, In-Keun;Hong, Suk-Kyo
    • Proceedings of the KIEE Conference
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    • 1989.11a
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    • pp.445-449
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    • 1989

  • Achievement of a straight line motion in the Cartesian space has a matter of great importance. Minimization of task execution time with linear interpolation in the joint space, accomplishing of a approximation of straight line motion in the Cartesian coordinate is considered as the prespecified task. Such determination yields minimum time joint-trajectory subject to input torque constraints. The applications of these results for joint-trajectory planning of a two-link manipulator with revolute joints are demonstrated by computer simulations.

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InfluenceofPre-TreatmentontheFormationofOrderedNano-SizedPoresFabricatedbyAluminumAnodizationMethod (전처리공정이알루미늄얌극산화법에의해제조된규칙적인나노급미세기공의형성에미치는영향)

  • Lee Jae-Hong;Lee Byung-Wook;Kim ChangKyo;Hong Chinsoo
    • The Transactions of the Korean Institute of Electrical Engineers C
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    • v.54 no.6
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    • pp.239-244
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    • 2005

  • Nano-sizedporearrayswerepreparedbytheself-organizationprocessesoftheanodicoxidationusingthealuminumplatewith99.999$\%$purity.Sincethealuminumplatehasaroughsurface,thealuminumplateof1mmthicknesswasanodizedafterthepre-treatmentsofpressing,mechanicalpolishing,thermaloxidation,chemicalpolishing,andelectrochemicalpolishing.Thediameterofthenano-sizedporesandthethicknessofbarrierlayercanbecontrolledbyappliedvoltage.Thethicknessofaluminamembranecanalsobecontrolledbytheanodizingcurrent.Thenano-sizedporeswithdiameterof60$\~$120nm,thedistancebetweenthenearestporesof30$\~$60nm,andthethicknessof6$\~$7Wwereobtainedbytheanodicoxidationprocess.Theporewideningprocesswasemployedforobtainingtheone-channelwithflatsurfacebecausetheporesofthealuminamembranepreparedbythefixedvoltagemethodshowsthestructureoftwo-channelwithroughsurface.

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