• 한국안전학회지
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• 제11권4호
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• pp.16-23
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• 1996

In controlling manipulators interacting with the external environment, an important role is played by the Force/Torque(F/T) sensors. Recently, a number of structures for F/T sensors have been proposed, and some criteria for their evaluation have been introduced. This paper presents a systematic analysis of F/T sensor at the design stage. A model of the F/T sensors, based on Stewart Platform structure, is developed on the basis of static and kinematic equation. The condition number defined by the kinematic velocity and force analysis of F/T sensor is used as a performance Index. Thus, 4 optimal structure factors of 6 D.O. F. F/T sensor are determined by using the condition number.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1997년도 추계학술대회 논문집
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• pp.48-53
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• 1997

The objective of this paper is to present the development and application of interface software between robot and F/T sensor for force control. The interface software for among the robot controller, F/T sensor, and host PC is based on interrupt-driven method. To show the suitability of developed interface software, writing-task is performed in real time using F/T sensor that mounts on the wrist of the robot and Scara type 4-axis robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1677-1680
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• 1991

Machining is a bottleneck in robot application technologies because of uncertainty of position/form, poor reliability of robot function and low reaction speed of robot to changes of surroundings, But in grinding automation with relatively low machining speed it is feasible to integrate of sensor signal in machining. In this paper strategy for robotic grinding with F/T sensor will be presented and with that the experimental results will be discussed. F/T sensor signal in grinding of strategy weld seam are transferred to PC, which plays a role as cell computer and transform F/T data to robot position and/or orientation, speed correction data according to programmed algorithm. The possibility and boundary of robotic grinding with F/T sensor intergration is discussed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.339-342
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• 1996

In this paper, the method for controlling PUMA robot using F/T sensor is described. In the part of the setup automation, robot is used. The F/T sensor is located at robot end-effector and various experiments are executed such as peg in hole, gripping objects, tool changing, etc.

• 한국산업융합학회 논문집
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• 제26권1호
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• pp.211-215
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• 2023

In this paper, the stability and effectiveness of the force control with a 6-axis compliance device are verified by performing comparative experiments with a commercial F/T sensor. The position/force control algorithm based on the Cartesian stiffness of a compliance device is briefly introduced and the design result of a 6-axis compliance device with F/T sensing is presented. The comparative experiments show that the force control using a compliance device is much more stable than that with rigid F/T sensor due to the enough compliance of a compliance device larger than robot positional resolution.

• 전자공학회논문지
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• 제50권6호
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• pp.91-98
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• 2013

생체자기신호 측정을 위해 고인덕턴스 코일과 계측 증폭기를 내장한 자기센서칩을 $0.18{\mu}m$ CMOS공정으로 제작하였다. 생체자기신호를 측정하기 적합한 감도와 대역폭을 가지는 고인덕턴스 코일센서를 전자기장 시뮬레이션 프로그램으로 설계하였으며, 온칩에 구현하기 위해 트렌스컨덕턴스 감쇄방법 적용한 low gm OTA를 구현하였다. 자기센서칩의 출력신호 감도는 $3.25fT/{\mu}V$이며, output reference noise는 21.1fT/${\surd}$Hz이다. 계측 증폭기부분은 current feedback 기반으로 설계되었으며, 자기 신호 잡음을 줄이기 위해서 0.5~5kHz의 대역의 BPF를 설계하였다. MPW칩 테스트에서 common mode rejection ratio(CMRR)는 117.5dB로 측정하였으며, input reference noise가 $0.87{\mu}V$ 이하로 유지되도록 설계하였다.

• 한국정밀공학회지
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• 제15권1호
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• pp.26-34
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• 1998

In this paper, a force control algorithm for edge following task is suggested. Through the contact state modeling between rigid part and end-effector of robot, contact force and contact angle that are essencial parameters to build the control strategies for following movement of end-effector are derived. From these two parameters, we discriminate the every contact state into 8 cases and calculate the new moving position and direction simply. For the experiment. RX90 robot from Staubli with robot language V$^{+}$ is applied and F/T sensor is attached to the wrist of robot with RCC. Finally, 3 edge following experiments including the following of corner point are executed with successful results.s.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 추계학술대회 논문집 전기물성,응용부문
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• pp.224-226
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• 2001

In this paper, a novel high-voltage motor monitoring system (HVMMS) is proposed. This system monitors the insulation condition of the stator winding by on-line measurements of partial discharge (PD). Sensor, EMC (Epoxy-Mica Coupler) is used for PD measurement PD signals are continuously measured and digitized with a peak-hold A/D converter to build the database of the high-voltage motor's insulation condition. Also, this system can communicate with the central monitoring system via RS-485. This helps more efficient operation and maintenance of the generator.

• 센서학회지
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• 제24권3호
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• pp.181-187
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• 2015

The magnetoelectric characteristics on layered $Fe_{78}B_{13}Si_9/PZT$ and $Fe_{78}B_{13}Si_9/PZT/Fe_{78}B_{13}Si_9$($t_m=0.017$, 0.034mm) composites by epoxy bonding for magnetic field sensor were investigated in the low-frequency range and resonance frequency range. The optimal bias magnetic field $H_{dc}$ of these samples was about 23~63 Oe range. The Me coefficient of $Fe_{78}B_{13}Si_9/PZT/Fe_{78}B_{13}Si_9(t_m=0.034mm)$ composites reaches a maximum of $186mV/cm{\cdot}Oe$ at $H_{dc}=63Oe$, f=50 Hz and a maximum of $1280mV/cm{\cdot}Oe$ at $H_{dc}=63Oe$, resonance frequency $f_r=95.5KHz$. The output voltage shows linearity proportional to ac fields $H_{ac}$ and is about U=0~130.6 mV at $H_{ac}=0{\sim}7Oe$, f=50 Hz, U=0~12.4 V at $H_{ac}=0{\sim}10Oe$, $f_r=95.5KHz$(resonance frequency). The optimal frequency(f=50 Hz) of this sample is around the utility ac frequency(f=60 Hz). Therefore, this sample will allow for ac magnetic field sensor at utility frequency and low bias magnetic fields $H_{dc}$.

• 대한기계학회논문집A
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• 제34권6호
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• pp.771-780
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• 2010

본 논문에서는 제작이 용이한 십자형 구조를 기본구조로 사용하여 판스프링 고정단을 가진 유연한 6축 로드셀을 설계하였다. 이를 위하여 유한요소법해석을 이용하여 강체 고정단과 판스프링 고정단에 대한 변형 분석을 하였으며 이로부터 특성이 우수한 6축 힘/토크 센서를 설계하였다. 변형률 분포를 이용하여 각 축의 하중에 대한 출력변형률이 비슷한 수준이 되도록 스트레인 게이지 위치를 정하고 상호간섭 변형률이 최소화 되도록 이들로 연결된 브리지회로를 구성하였다. 강체 고정단 대신에 스프링판 고정단을 이용하면 고정 경계부의 조건을 변화시킬 수 있어서 십자형 로드셀의 특성을 획기적으로 개선시킬 수 있었다. 치수 변경을 통하여 설계된 6축 로드셀에 대한 상호 간섭오차는 모든 축에서 0으로 계산되었으며 각 축에서 발생하는 출력변형률 값도 $400\;{\mu}m/m$의 비슷한 수준으로 결정되었다.