• 한국정밀공학회지
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• 제32권7호
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• pp.653-660
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• 2015

This paper describes the design of the force measuring system for an industrial robot's deburring work. The force measuring system is composed of a three-axis force sensor, a measuring device, a housing and a cover. The three-axis force sensor can detect x-direction force, y-direction force and z-direction force at the same time. The measuring device is designed using DSP(Digital Signal Processor), and have a RS-232 and a RS-485 communication port for sending force data to PC or other controller. As a result of test, the repeatability error and the non-lineality error of the three-axis force sensor are less than 0.03%, and the interference error of the sensor is less than 0.95%. It is thought that the force measuring system can be used for an industrial robot's deburring work.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.700-704
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• 1989

A robotic system with a 3-dimensional profile measuring sensor is developed in order to measure the complicated shape of the target body. Due to this 3-dimensional profile measuring sensor, a computer is able to adjust the posture of the robot hand so that complicated global profile of the target body can be recognized after several measurements from the variant directions. In order to enable fast data processing, a digital signal processor and a look-up table is introduced.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.586-590
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• 1990

In this paper we describe the shape measuring technique and system with a non-contractive sensor, composed of slit-ray projector and solid-state camera. For improving the accuracy and preventing measuring dead point, this sensor part is attached to the end of robot, and each sensing is executed after one step moving. By patching these sensing data, whole measuring data is constructed. The calibration between sensor and world coordinate is implemented through the specific calibration block by transformation matrix method. The result of experiment was satisfactory.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 B
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• pp.1018-1021
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• 2003

This dissertation is reference to measure visual information about the configuration of magnetic field automatically and materialize the new magnetic field mapping system for the rapid and clear measure by using of the mediocrity orthogonal robot in the three- dimensional space required the measure of magnetic field concurrently. The measuring sensor is composed to be available for the measure of three-dimensional direction of magnetic field by vertically conjoining each of three hall sensors utilized of the hall effect and installed Gaussmeter, which is devised to receive the sensor result and the robot controller, away from the measuring robot in order to minimize the affection of magnetic field. Also, the controller and Gaussmeter are composed of Use interface, RS-232C and IEEE-488.2 communication. Interface system is written in NI's LabVIEW and composed to be able to set up a measuring area, the measuring number of times, two and three-dimensional graph, the velocity of robot and the magnetic field distribution graph of each element by inputting parameters. The materialized magnetic field mapping system expert the collection of the data easily and the effect of utilizing data.

• 한국공작기계학회논문집
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• 제17권4호
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• pp.8-14
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• 2008

This paper aims at finding out dominant robot configurations with maximal position errors, which can be attributed to the parameter errors, by using Monte-Carlo simulation for error analysis of a 3-axis SCARA(Selective Compliance Assembly Robot Arm) type robot. In particular, the Monte-Carlo simulation is used for virtually measuring on the position errors, instead of physical measurement. In order to measure the observability of the model parameters with respect to a set of robot configurations, we propose the observability index which is defined as the product of singular values for error propagation matrices. Thus the index can be used for discriminating dominant robot configurations from a set of simulated ones in conjunction with standard deviation of positional errors, This paper analyzed error by robot positional error.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1828-1831
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• 1997

this paper, to represent the robot motion approximately in space, delas with algorithm for position recognition of space robot, target and obstacle with vision system in 2-D. And also there are algorithms for precise distance-measuring and calibration usign laser displacement system, and for trajectory selection for optimizing moving to object, and for robot locomtion with air-thrust valve. And the software synthesizing of these algorithms hleps operator to realize the situation certainly and perform the job without any difficulty.

• 반도체디스플레이기술학회지
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• 제15권3호
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• pp.62-66
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• 2016

Optical system needs to be aligned before its undergoing process, is usually shows coma aberrations, which occurred due to imperfection in the lens or other components results in off-axis point sources, appearing to have a tail like a comet. There are some methods to correct coma aberration. In this paper, to correct coma aberration in optical system, using a robot arm type coordinate measuring machine(CMM). CMMs are widely used to measure the form of accuracy of parts and positioning accuracy of systems. Among them, robot arm type CMM has more advantages than the others, such as its mobility and measuring range. However, robot arm type CMM has lower accuracy than cantilever type CMM. To prove robot arm type CMM's accuracy, several factors were suggested in this paper and the final measuring results were compared to a commercial cantilever type CMM. Based on this accuracy, a typical optical system was successfully aligned by using our robot arm type CMM.

• 한국측량학회지
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• 제23권4호
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• pp.409-417
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• 2005

본 연구의 목적은 DGPS와 무선통신을 이용하여 저수지, 댐 등의 수심 및 수중지형 정보를 획득할 수 있는 원격 수심측정시스템을 개발하는데 있다. GPS와 에코사운더를 장착한 로봇선은 무선 인터넷을 이용하여 원격으로 제어된다. 로봇선체는 선체, 개별 모듈 및 제어보드로 구성되었으며, 제어국은 위치데이터 처리시스템과 원격제어시스템으로 구성되었다. 통신시스템은 로봇선과 제어국이 정보를 교환할 수 있도록 개발하였으며, RF 모뎀과 무선 인터넷의 2채널 시스템으로 구성되었다. 본 연구에서 개발된 원격측정 로봇선은 저수지, 댐, 하천 등의 수심 및 하상지형 정보를 경제적으로 정확하게 획득하는데 효과적으로 이용될 수 있을 것으로 기대된다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1139-1143
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• 1991

Using industrial robots and sensors, we developed an inline car body inspection system which proposes high flexibility and sufficient accuracy. Car Body Inspection(CBI) cell consists of two industrial robots, two corresponding carriages, camera vision system, a process computer with multi-tasking ability and several LDS's. As industrial robots guarantee sufficient repeatabilities, the CBI cell adopts the concept of relative measurement instead of that of absolute measurement. By comparing the actual measured data with reference data, the dimensional errors of the corresponding points can be calculated. The length of the robot arms changes according to ambient temperature and it affects the measuring accuracy. To compensate this error, a robot arm calibration process was realized. By measuring a reference jig, the differential changes of the robot arms due to temperature fluctuation can be calculated and compensated.

• 대한기계학회논문집A
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• 제21권12호
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• pp.2146-2155
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• 1997

This paper presents the Wire Parallel Mechanism for robot pose measurement which can be used to robot calibration. It is constructed with six parallel links using wire. The position and orientation of the end effector of a robot are calculated from the wire length that measured by the encoder. The unique solution is obtained from a Newton-Raphson method and geometric configuration of the mechanism, also the method to estimate a measuring space is presented. Through the simulations, it is verified that the proposed mechanism can measure a robot pose, and has a large measuring space. In conclusion, it can be used effectively in a robot pose measurement with little cost and effort.