• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1569-1572
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• 1997

In this paper, we present an associative memory network (AMN) controller for dynamic robot control. The purpose of using AMN is to reduce the size of required memory in storing and recalling large of daa representing input relationship of nonlinear functions. With the capability AMN can be used to dynamic robot control, which has nonlinear properties inherently. The proposed AMN control scheme has advantages for the inverse dynamics learning no limitatiion of inpur range, and insensitive of payload change. Computer simulations show the effectiveness and feasibility of proposed scheme.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.724-727
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• 1997

In this paper, we developed a Windows 95 version Off-Line Programming System which can simulate a Robot model in 3D Graphic space. 4 axes SCARA Robot (especially FARA SM5)was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the OLP system in the Windows 95's GUI environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D Graphics.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.1013-1016
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• 1995

This paper deals with dynamics and control of a PRP6-DOF parallel manipulator. Dynamic modeling includes the effect of inertia of all links in the mechanism to increase modeling accuracy. Kinematic analysis about forward and inverse kinematics is also explained. Using Lagrange-D' Alambert method we get equations of motions in a link space which fully represent 6DOF motions of the manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.654-659
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• 1993

In this paper, a robot controller that has a real time-multitasking OS (Operating System) is developed. It can do given jobs in realtime, so its effectiveness is increased. The controller has several CPU boards, and it is needed to communicate among these boards. For that reason, it is adopted VME bus system and VMEexec OS that can process multiprocess in realtime. Multiprocess includes robot language edit process, vision process, low level motion control process, and teach process in higher layer. And dynamics, kinematics, and inverse kinematics that require realtime calculation are included in lower layer.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.32-36
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• 1988

Generally, for nonlinear control of robotic system, the method of computed torque or inverse dynamics is frequently used. In this case, exact knowledge of the system parameters is required, however. This paper addresses the problem of nonlinear control when the parameter of system is varied. The approach is based upon decoupled model following. As an example, control of a three degree of freedom manipulator arm under mass variation is simulated.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1998.03a
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• pp.227-232
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• 1998

We developed a Off-Line Graphic Simulator which can simulate a robot model in 3D graphics space in Windows 95 version. 4 axes SCARA robot was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the off-line program system in the Windows 95's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D graphics.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.24-29
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• 1990

In this paper ,ie propose a hybrid position/force controller of a robot manipulator using double-layer neural network. Each layer is constructed from inverse dynamics and Jacobian transpose matrix, respectively. The weighting value of each neuron is trained by using a feedback force as an error signal. If the neural networks are sufficiently trained it does not require the feedback-loop with error signals. The effectiveness of the proposed hybrid position/force controller is demonstrated by computer simulation using a PUMA 560 manipulator.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.565-570
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• 1999

In this paper, we developed a windows 95 version Off-Line Programming system which can simulate a Robot model in 3D Graphics space. 4axes SCARA Robot (especially FARA SM5) was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the OLP system in the Windows 95's GUI environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by silicon Graphics, Inc. were utilized for 3D Graphics.

• 한국전산유체공학회:학술대회논문집
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• 1997.10a
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• pp.126-130
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• 1997

A new and efficient method is presented for design optimization, which is based on a computational fluid dynamics (CFD). The method is applied to design an airfoil configuration. The Navier-Stokes equations are solved for the viscous analysis of the flow, which provides the object function. The CFD analysis is then coupled with the optimization procedure that used a conjugate gradient method. During the one-dimensional search of the optimization procedure, an approximate flow analysis based on a first-order Taylor series expansion is used to reduce the computational cost, (This study is supported by Korean Ministry of Education through Research Fund)

• 전기의세계
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• v.29 no.4
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• pp.256-259
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• 1980

A singular pertubation theory is applied to obtain an approximate solution for suboptimal control of nuclear reactors with spatially distributed parameters. The inverse of the neutron velocity is regarded as a small perturbing parameter, and the model, adopted for simplicity, is a cylindrically symmetrical reactor whose dynamics are described by the one group diffusion equation with one delayed neutron group. The Helmholtz mode expansion is used for the application of the optimal theory for lumped parameter systems to the spatially distributed parameter systems. An asymptotic expansion of the feedback gain matrix is obtained with construction of the boundary layer correction up to the first order.