• 한국정밀공학회지
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• 제33권8호
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• pp.683-689
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• 2016

Servo mismatch, which affects positioning accuracy of multi-axis machine tools, is usually estimated via the circular test. However, due to mechanical restrictions in measuring instruments, the circular test using a double ball-bar is difficult to apply in miniaturized or super-large sized machine tools. Laser trackers are widely used to measure the form accuracy of parts and the positioning accuracy of driving systems. In this paper, a technique for the servo mismatch estimation of multi-axis machine tools is proposed via the circular test using a laser tracker. To verify the proposed technique, experiments using a double ball-bar and laser tracker are conducted in a 3-axis machine tool. The difference in the evaluation results is 0.05 msec. The servo mismatch for the miniaturized machine tool is also evaluated using the proposed technique.

• 한국산업융합학회 논문집
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• 제24권6_2호
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• pp.947-952
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• 2021

In this paper, the simplified kinematic error model for Delta parallel robot is presented, which can enable the analytical forward kinematics essentially for kinematic calibration calculations instead of the numerical one. The simplified kinematic error model is proposed and the forward kinematics including the error parameters is analytically derived. The kinematic calibration algorithm of the Delta parallel robot with 90 degree arrangement using laser tracker and the experiment result are presented.

• 한국레이저가공학회:학술대회논문집
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• 한국레이저가공학회 2002년도 춘계학술발표대회 논문개요집
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• pp.3-7
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• 2002

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1001-1006
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• 2005

A Robot Performance Evaluation System(RPES) with the laser tracker Leica LTD 500 was developed according to the ISO 9283 robot performance criteria. The developed system is set up a test robot to continuously move the prescribed cyclic trajectories without a human intervention and the laser tracker to simultaneously measure the robot's movement. And then, the system automatically extracts the required data from the tremendous measured data, and computes the various performance criteria which represents the present state of the test robot's performance. This paper explains how ISO 9283 robot performance criteria was used for the developed system, and suggests a automatic data extraction algorithm from the mass of measured data. And also, a user-friendly Robot Performance Evaluation System(RPES) Software was developed with Visual Basic satisfying the need of Hyundai Motor Company. The developed system was implemented on NACHI 8608 AM 11 robot. The resulted output shows the effectiveness of the developed system.

• 한국광학회지
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• 제24권6호
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• pp.331-337
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• 2013

대형 광학 거울은 연삭, 연마, 최종연마의 단계를 거쳐 가공된다. 이 가운데 가장 진행이 빠르고 가공량이 많은 연삭 단계에서 정밀하고 신속한 측정이 가능하다면 가공 공정의 효율성을 높일 수 있다. 그런데 연삭 단계의 광학면은 거칠고 광택이 없기 때문에 빛을 이용한 측정이 매우 어렵다. 따라서 간섭계를 사용할 수 없으며 기계적인 방법을 이용하여 면을 측정해야 한다. 레이저트래커는 이동이 가능한 3차원 좌표 측정기로, 이를 이용한 측정 방법이나 데이터 분석을 연구하면 연삭 단계의 광학 거울을 정밀하게 측정할 수 있다. 본 논문에서는 레이저트래커를 이용하여 직경 1 m의 구면 거울의 형상오차를 측정하고, 이 측정 결과를 간섭계로 측정한 것과 비교하였다. 레이저트래커를 이용한 측정법은 형상오차 rms $0.2{\mu}m$, PV $2.7{\mu}m$의 측정 결과를 얻는 것으로 파악되어 연삭 단계 광학면의 정밀한 측정이 가능할 것으로 보인다.

• 한국기계가공학회지
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• 제9권3호
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• pp.1-7
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• 2010

The aim of this research is to evaluate movement and path characteristics of developed heavy duty handling robot using laser tracker(API T3) according to the ISO 9283 robot performance evaluation criteria. As carry out 3D modeling and simulation using CATIA, a test cube was set up to select moving and measuring range of robot. Performance test for pose and distance accuracy, path and path velocity accuracy under payload zero and 440kgf was accomplished. The resulted output data show the reliability of the developed robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.1162-1166
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• 1990

We present a system to measure 3-dimensional coordinates of huge structures like ships, buildings and oil tanks. Two important units are a laser spot projector and a laser spot tracker. Employing a tactful image processing, our system has some features :e.g. compactness, cost, accuracy and robustness to hazardous emvironments.

• 한국멀티미디어학회논문지
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• 제17권7호
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• pp.787-796
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• 2014

Many mobile robot navigation methods utilize laser scanners, ultrasonic sensors, vision camera, and so on for detecting obstacles and path following. However, human utilizes only vision(e.g. eye) information for navigation. In this paper, we study a mobile robot control method based on only the camera vision. The Gaussian Mixture Model and a shadow removal technology are used to divide the foreground and the background from the camera image. The mobile robot uses a combined CAMSHIFT and KLT feature tracker algorithms based on the information of the foreground to follow a person. The algorithm is verified by experiments where a person is tracked and followed by a robot in a hallway.

• 한국자동차공학회논문집
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• 제21권4호
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• pp.33-42
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• 2013

This paper describes a multiple vehicle tracking algorithm using an integrated probabilistic data association filter (IPDAF) in urban environments. The algorithm consists of two parts; a pre-processing stage and an IPDA tracker. In the pre-processing stage, measurements are generated by a feature extraction method that manipulates raw data into predefined geometric features of vehicles as lines and boxes. After that, the measurements are divided into two different objects, dynamic and static objects, by using information of ego-vehicle motion. The IPDA tracker estimates not only states of tracks but also existence probability recursively. The existence probability greatly assists reliable initiation and termination of track in cluttered environment. The algorithm was validated by using experimental data which is collected in urban environment by using single laser scanner.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2011년도 제42회 하계학술대회
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• pp.1782-1783
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• 2011

실내공간상에서 3차원 실시간 위치를 결정하는 다양한 측지기법들이 존재하지만 $100{\mu}m$ 이하 계측기 수준의 정밀도를 측정하는 방법은 여전히 Laser Theodolite 신호를 사용할 수밖에 없다. Rotary-Laser Automatic Theodolite(R-LAT)는 Fan Laser Beam을 주사하면서 회전시킨 후 주어진 공간의 수직과 수평을 계측하는 Laser Transmitter의 한 종류이다. 본 논문에서는 R-LAT에서 발생되는 Fan Laser Beam 신호를 취득할 수 있는 센서와 증폭회로의 개발을 통하여 3차원 공간좌표에 대한 회전변환행렬로 이루어진 알고리즘을 제안하고 실험을 통하여 기존 Laser Tracker에서 구해지는 공간좌표와 상호 비교하였다.