• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.756-759
• /
• 1997

Multi-arm cooperation robot system is required for more specific and dextrous jobs such as transferring very large or heavy objects, or grasping work piece while processing on it. There is little research on 3-dimensional multi-arm robot. Here we propose two performance indices presenting isotropy of end-effector's acceleration and velocity capabilities with constraints of joint torques, that is Isotropic Acceleration Radius [IAR] and Isotropic Velocity Radius [IVRI. Also the procedure to find 3-dimensional IAR, IVR is proposed, where available acceleration set concept is used. The case of 3-dimensional two 3 joint robot system was simulated and the distributions of IAR, IVR was studied.

• Proceedings of the Korean Society for Technology of Plasticity Conference
• /
• 2001.10a
• /
• pp.345-348
• /
• 2001

Nowadays, cast ingots has been used as preforms for forging to reduce the cost and the number of processes. In this study, the forging ability of Al cast alloys was investigated by using hot compression tests. Hot compression behavior of the cast Al alloys has been studied The flow stress increased by decreasing the compression temperature and by increasing the strain rate. In case of melt treatment the flow stress decreased comparing to untreated A356.0 Al alloy. Also, We developed the various forged lower control arm using the cast preform. The optimum design of product and cast preform was investigated After Prototyping of Al forged lower arm, durability and buckling test were performed.

• Proceedings of the KIEE Conference
• /
• 1991.07a
• /
• pp.799-804
• /
• 1991

This paper is concerned with the artificial control of prosthetic devices using the electromyographic(EMG) activities of biceps and triceps in human subject during isometric contraction adjustments at the elbow. And it was analysised about recognition of EMG signals and dynamic characteristics at arm movements of human. For this study the error signal of autoregressive(AR) model were used to discriminate arm movement patterns of human. Interaction of dynamic characteristics (Position, Velocity, Acceleration) and EMG of biceps and triceps at arm movements of human was measured.

• The Journal of Korea Robotics Society
• /
• v.6 no.1
• /
• pp.27-33
• /
• 2011

Control and trajectory generation of a 7 DOF anthropomorphic robot arm suffer from computational complexity and singularity problem because of numerical inverse kinematics. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of inverse kinematics. In this research, we propose an analytical inverse kinematics algorithm for a 7 DOF anthropomorphic robot arm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regard to the end-effector pose. Performance of the proposed algorithm was verified by various simulations. It is shown that the trajectory planning using this algorithm provides correct results near the singular points and can utilize redundancy intuitively.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.85.3-85
• /
• 2002

In this study, we tried to investigate the impedance characteristic of human arm in a cooperative task. Human arm was moved in a desired trajectory. The motion was actuated by a 1 degree-of-freedom robot system. As the muscle is mechanically analogous to a spring-damper system, a second-order equation was considered as the model for arm dynamics. In the model, inertia, stiffness and damping factor were considered. The impedance parameter was estimated from the position and torque data obtained from the experiment and based on the "Estimation of Parametric Model". It was found that the inertia is almost constant over the operational time. The damping factor and stiffness were high...

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2003.10a
• /
• pp.868-871
• /
• 2003

This paper is about distance measurement in various applications using Laser characteristics(monochromaticity, diectivity, interference, brightness, coherence). There are many kinds of methods such as light wavelength, light straight, light triangulation in distance measurement that use Laser. The measurement in this paper reforms a previous triangulation. This method define two Lasers place on regular distance control from 0$^{\circ}$ to 90$^{\circ}$. They have each phase which is shined a target.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.55 no.10
• /
• pp.446-451
• /
• 2006

In this paper, we propose an implementation of JPEG2000 codec on the ARM9 Processor which includes independent memory management facility. The codec and memory management facility together can control the encoding and the decoding process effectively within available memory area. Embedded appliances like cellular phones have very limited internal memory which can't be expanded easily. However, they should provide various applications and services using restricted memory resources. The proposed codec with memory management can provide image quality that is identical to the original image on embedded platform. The implemented codec has no memory conflict with other applications. It shows that the proposed codec can manage memory resources efficiently.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 1996.10a
• /
• pp.197-202
• /
• 1996

The dynamic interaction between a translating flexible arm and a trapezoidal velocity profile of a cart to which the flexible arm is attached is presented. Vibration of the flexible arm due to translation is analytically solved, and the conditions for suppressing vibration is derived in terms of velocity profiles. To prove the validity of the solution and the conditions, numerical computation and experiments are camed out. Only a natural frequency of vibrating plant is needed to obtain the conditions for vibration reduction. With this results, a passive vibration regulator as an open loop control scheme can be designed and direct application to industrial plants such as overhead crane can be made.

• The Journal of Korea Robotics Society
• /
• v.17 no.3
• /
• pp.347-352
• /
• 2022

The paper presents how to update impedance control parameters for dual-arm manipulators using EMG signals and motions of the operator. Since the hand motions of the dual-arm are modeled to be the mass-spring-damper system in this paper, the impedance parameter update method is an important issue to reflect the operator's force. However, task space inertia to be used as the mass parameter goes to infinity if the manipulator approaches a kinematic singularity. To alleviate this issue, the impedance (stiffness and damping) parameters are divided with a diagonal element of the task space inertia. Also, the stiffness and damping matrices are updated using the normalized EMG signals captured from the operator's forearm. Through this process, the motion of the dual-arm manipulator is more stabilized even though it approaches the kinematic singularity.

• Journal of the Korean Society of Industry Convergence
• /
• v.26 no.4_1
• /
• pp.545-551
• /
• 2023

In this paper, a robot automation methodology for chemical drum assembly in semiconductor industries are presented. Robot automation is essential to resolve safety issues in which operators are directly or indirectly exposed to chemicals or fumes in assembling dispense heads on chemical drums. However, the chemical drum assembling process involves complex and difficult tasks, such as mating male/female keycodes and fastening screws with large-diameter, which may be very difficult to be performed by a single-arm robot with a commercial rigid F/T sensor. In order to solve the problems, a method for assembling a chemical drum using dual-arm collaborative robot system, compliance F/T sensor, robot vision and gripper is presented.