• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1245-1248
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• 1996

This paper describes a cell programming environment that deals with problems associated with programming Flexible Manufacturing Cells(FMCs). The environment consists of the cell programming editor and the automatic generation module. In the cell programming editor, cell programmers can develop cell programs using task level description set which supports task-oriented specifications for manipulation cell activities. This approach to cell programming reduces the amount of details that cell programmers need to consider and allows them to concentrate on the most important aspects of the task at hand. The automatic generation module is used to transform task specifications into executable programs used by cell constituents. This module is based on efficient algorithm and expert systems which can be used for optimal path planning of robot operations and optimal machining parameters of machine tool operations. The development tool in designing the environment is an object-oriented approach which provides a simple to use and intuitive user interface, and allows for an easy development of object models associated with the environment.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.7
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• pp.126-136
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• 1997

This paper describes a task level cell programming environment that deals with difficulties in programming Flexible Manufacturing Cells (FMCs), and consists of the cell programming editor and the automatic generation module. In the cell programming editor, cell programs can be developed with task- oriented cell specifications that reduces the amount of details to be considered by cell programmers. The automatic generation module transforms task specifications into executable programs used by cell constituents. The development tool in designing the environment is an object-oriented approach which provides a simple to use and intuitive user interface, and allows for an easy development of object models associated with the environment. Test results are illustrated in order to demonstrate the applicability of the developed envifonment.

• International Journal of Control, Automation, and Systems
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• v.1 no.4
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• pp.464-473
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• 2003

A method for force-free control is proposed to realize pull-out work by an industrial articulated robot arm. This method achieves not only non-gravity and non-friction motion of an articulated robot arm according to an exerted force but also reflects no change in the structure of the servo controller. Ideal performance of a pull-out work by the force-free control method was assured by means of simulation and experimental studies with a two-degree-of-freedom articulated robot arm.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.4
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• pp.289-295
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• 2002

In this paper, a linear matrix inequality(LMI)-based robust control method, which combines model predictive control(MPC) with the feedback linearization(FL), is presented for constrained nonlinear systems with parameter uncertainty. The design procedures consist of the following 3 steps: Polytopic description of nonlinear system with a parameter uncertainty via FL, Mapping of actual input constraint by FL into constraint on new input of linearized system, Optimization of the constrained MPC problem based on LMI. To verify the performance and usefulness of the control method proposed in this paper, some simulations with application to a flexible single link manipulator are performed.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.508-513
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• 1990

오늘날, 생산성 증대와 품질 향상을 목적으로 산업용 로봇의 사용이 증대되면서 다양한 생산현장에서의 유연성과 적응성이 크게 요구되고 있는 실정이다. 그러나, 현재의 산업용 로봇은 end-effector의 dexterity의 부족으로 그 사용에 제한을 받고 있다. 이를 해결하기 위해 다지(multi-fingered), 다관절(articulated) 로봇손(robotic hands)의 도입이 필요하게 되었는데 이는 전체 로봇시스템의 능력과 유연성을 증가시킬 수 있을 것이다. 현재의 Flexible Manufacturing Workcell은 보통 한 대의 로봇팔과 많은 특수 용도의 고가의 tool로 구성되어 있으나 일반적인 모든 작업에 제한없이 모두 적용하기는 매우 어렵다. 그러므로, 다지, 다관절 로봇손의 개발 및 그 지능 제어의 실현은 작업에 따르는 불필요한 tool의 교환을 방지하여 비용과 시간을 절약함으로써 생산성을 극대화시킬 수 있다. 따라서, 본 연구에서는 Flexible Automation을 위한 다지, 다관절 로봇손의 설계 및 제작에 관한 방법을 제시하고자 한다.

• Journal of international Conference on Electrical Machines and Systems
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• v.1 no.1
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• pp.61-66
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• 2012

Linear motors has been developed for factory automation, transportation applications, among other applications. As the trend toward compact sizes in micro electronic products progresses, the required motor drives in these applications need to be downsized with increased power densities. It appears that the winding of miniature linear motors is the most awkward part to be scaled down from conventional motor designs when miniaturizing. This paper presents an alternative design for slotless linear motors. A novel flexible printed circuit winding has been applied to obtain a simplified but qualified result. Having explained the prototyping and inspection, a discussion is given to examine the achievement of this study.

• Journal of Korean Institute of Industrial Engineers
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• v.26 no.4
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• pp.376-383
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• 2000

A flexible disk grinding process model has been implemented with varying disk orientation with respect to workpiece surface along with variable feed rate. Before implementing arbitrary disk orientation and translation, disk angle and feed rate variation have been implemented. The disk angle was changed with constant angular velocity only in the entrance stage. The effect of the variable feed rate was added to the geometric schematic. The feed rate was changed either from the entrance stage or from the between edges stage and process performance was evaluated. Effect of changing both angle end feed rate has been also analyzed. Disk trend showing actual disk deflection has also been visualized.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.11
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• pp.147-153
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• 1997

Fault diagnosis technique in machining system which is one of engineering techniques absolutely necessary to automation of manufacturing system has been proposed. As a whole, diagnosis process is explained by two steps: sensor data acquisition and reasoning current state of system with the given sensor data. Flexible disk grinding process implemented in milling machine was employed in order to obtain empirical manufacturing process information. Resistance force data during machining were acquired using tool dynamometer known as sensor which is comparably accurate and reliable in operation. Tool status during the process was analyzed using influnece diagram assigning probability from the statistical analysis procedure.

• International Journal of Aeronautical and Space Sciences
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• v.17 no.2
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• pp.184-194
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• 2016

In existing identification methods for on-orbit spacecraft, such as eigensystem realization algorithm (ERA) and subspace method identification (SMI), singular value decomposition (SVD) is used frequently to estimate the modal parameters. However, these identification methods are often used to process the linear time-invariant system, and there is a lower computation efficiency using the SVD when the system order of spacecraft is high. In this study, to improve the computational efficiency in identifying time-varying modal parameters of large spacecraft, a faster recursive algorithm called fast approximated power iteration (FAPI) is employed. This approach avoids the SVD and can be provided as an alternative spacecraft identification method, and the latest modal parameters obtained can be applied for updating the controller parameters timely (e.g. the self-adaptive control problem). In numerical simulations, two large flexible spacecraft models, the Engineering Test Satellite-VIII (ETS-VIII) and Soil Moisture Active/Passive (SMAP) satellite, are established. The identification results show that this recursive algorithm can obtain the time-varying modal parameters, and the computation time is reduced significantly.

• Journal of the KSME
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• v.23 no.5
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• pp.360-369
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• 1983

최근 $\ulcorner$생산시스템(production systems, manufacturing systems)$\lrcorner$이라는 용어가 널리 쓰여지게 되었다. 이를 표제로 내건 단행본도 다수 출판되고 있다. 이 말의 뜻은 경우에 따라서는 단순히 물건을 생산하는 공장을 가르키기도 하고, 또는 생산관리의 의미로 쓰이기도 하며, 때로는 컴퓨 터에 의한 설계.생산(CAD/CAM)이라든가 새로운 의미의 유연한 자동생산(flexible automation)을 의미할 때도 있어서 그 해석은 여러 가지로 나뉘어진다. 본고에서는 생산시스템에 관하여 기본 적인 개념과 구조, 내용 등을 해설한 것이다.