• Proceedings of the KSME Conference
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• 2007.05a
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• pp.939-944
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• 2007

Generally, development of a robot capable of fast movements or high payloads is progressed by the analysis of dynamic characteristics, DOF positioning, actuator selection, structure of links, and so on. This paper highlights the design of a robot manipulator handled by a human for man-machine cooperation. The requirements of the proposed system include its having multi-DOF(Degree of Freedom)and the capacity for a high payload in the condition of its maximum reach. The primary investigation factors are motion range, performance within the motion area, and reliabilityduring the handling of heavy materials. Traditionally, the mechanical design of robots has been viewed as a problem of packaging motors and electronics into a reasonable structure. This process usually transpires with heavy reliance of designerexperience. Not surprisingly, the traditional design process contains no formally defined rules for achieving desirable results, as there is little opportunity for quantitative feedback during the formative stages. This work primarily focuses on the selection of proper joint types and link lengths, considering a specific task type and motion requirements of the heavy material handling.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.3 s.258
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• pp.285-294
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• 2007

Previously, ASCI(Automation System for Curtain-wall Installation) which combined with a multi-DOF manipulator to a mini-excavator was developed and applied on construction site. As result, the operation by one operator and more intuitive operation method are proposed to improve ASCI's operation method which need one person with a remote joystick and another operating an excavator. The human-robot cooperative system can cope with various and untypical constructing environment through the real-time interacting with a human, robot and constructing environment simultaneously. The physical power of a robot system helps a human to handle heavy construction materials with relatively scaled-down load. Also, a human can feel and response the force reflected from robot end effecter acting with working environment. This paper presents the feasibility study regarding the application of the proposed human-robot cooperation control for construction robot through experiments on a 2DOF manipulator.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.6
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• pp.1002-1008
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• 2011

The mine-detection system, which is one of the various mission equipments for Ground Vehicle System, detects mine under the ground. The mine detection sensors comprised of Metal Detection(MD) sensor and Ground Penetration Radar(GPR) are attached on the end of the multi-DOF manipulator. The manipulator moves the sensor to sweep mine areas keeping the pre-determined distance between the sensor and ground to enhance mine detection performance. The detection system can be operated automatically, semi-automatically and manually. When the detection system is operated automatically, the sensor should avoid collisions with unexpected obstacles which may exist on the ground. Two types of ultra-sonic sensors were developed for the mine detection sensor system to keep the appropriate gap between sensor and the ground to avoid the obstacles. Also, mine place marking device was developed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.73-76
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• 2005

Carbon nanotubes (CNTs) have attracted an increasing attention due to their superior mechanical properties and potential application in industries. The strength of CNT has been predicted or calculated through several simulation techniques but actual experiments on stress-strain behavior are rare due to its dimensional limit, nanoscale positioning/manipulation, and instrumental resolution. We have attempted to observe straining responses of a multi-walled carbon nanotube (MWNT) by performing an in-situ tensile testing in a scanning electron microscope. The carbon nanotube, having its both ends attached on a cantilever force sensor and Y-shaped support, was elongated by a computer-controlled nanomanipulator. Linear deformation and fracture behaviors of MWNT were successfully observed and its force-displacement curve was also measured from the bending stiffness and displacement of the force sensor and manipulator.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.4
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• pp.227-235
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• 1993

In this paper, the development of a high performance flexible controller is described. The hardware of the controller, based on VME-bus, consists of four M68020 single-board computers (32-bit) with M68881 numerical coprocessors, two M68040 single board donputers, I/O devices (such as A/D and D/A converters, paraller I/O, encoder counters), and bus-to-bus adaptor. This software, written in C and based on X-window environment with Unix operating system, includes : text editor, compiler, downloader, and plotter running in a host computer for developing control program ; device drivers, scheduler, and mathemetical routines for the real time control purpose ; message passing, file server, source level debugger virtural terminal, etc. The hardware and software are structured so that the controller might have both flexibility and extensibility. In papallel to the controller, a three degrees of freedom kinematically redundant robot has been developed at the same time. The development of the same time. The development of the robot was undertaken in order to provide, on the one hand, a computationally intensive plant to which to apply the controller, and on the other hand a research tool in the field of kinematically redundant manipulator, which is, as such, an important area. By using the controller, dynamic control of the redundant manipulator was successfully experimented, showing the effectiveness and flexibility of the controller.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.726-729
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• 2004

This paper concerns on developing a multi-purpose test device for measuring mechanical properties of shoes. The device was modified from a commercial robot manipulator, with which impact, bending, and pronation tests were suggested to evaluate performances of shoes. From several experiments, the developed device could produce repetitive and consistent results corresponding to the different material of shoes. In the shoe industry, it is expected that the device could contribute to developing a better shoe for comfort of costumers.

• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.263-266
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• 2003

In this paper, we have proposed a realization method of tactile sense of virtual objects using multi-layer Neural Networks(NN). Inputs of the NN are position data of non-rigid objects and outputs of the NN are forces at that time and point. First, the position and forte data are measured from non-rigid objects (a sponge and a balloon) using two PHANToMS, one as a master and the other as a slave manipulator, then the data are used to train a multi-layer Neural Networks whose inputs and outputs are designed to represent tactile information. The trained Neural Networks is used to regenerate the tactile sense on the virtual objects graphically made by a computer, and one can feel a quite similar sense of touch by using the system while touching the virtual objects.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.200-203
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• 2007

Carbon nanotubes (CNTs) have attracted an increasing attention due to their superior mechanical properties and potential application in industries. The strength of CNT has been predicted or calculated through several simulation techniques but actual experiments on stress-strain behavior are rare due to its dimensional limit, nanoscale positioning/manipulation, and instrumental resolution. We have attempted to observe straining responses of a multi-walled carbon nanotube (MWNT) with different growth methods by performing an in-situ tensile testing in a scanning electron microscope. Linear deformation and fracture behaviors of MWNT were successfully observed and its force-displacement curve was also measured from the bending stiffness and displacement of the force sensor and manipulator. We also obtained different tensile load of carbon nanotube with different growth methods.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.853-858
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• 1993

The error back-propagation(BP) algorithm is widely used for finding optimum weights of multi-layer neural networks. However, the critical drawback of the BP algorithm is its slow convergence of error. The major reason for this slow convergence is the premature saturation which is a phenomenon that the error of a neural network stays almost constant for some period time during learning. An inappropriate selections of initial weights cause each neuron to be trapped in the premature saturation state, which brings in slow convergence speed of the multi-layer neural network. In this paper, to overcome the above problem, Micro-Genetic algorithms(.mu.-GAs) which can allow to find the near-optimal values, are used to select the proper weights and slopes of activation function of neurons. The effectiveness of the proposed algorithms will be demonstrated by some computer simulations of two d.o.f planar robot manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.539-542
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• 1996

The forces exerted on an object by the end-effectors of multi-manipulators are decomposed into the motion-inducing force and the internal force. Motion-inducing force effects the motion of an object and internal force can't effect it. The motion of an object can't track exactly the desired motion because of internal force component, therefore internal force component must be considered. In this paper using the resolved acceleration control method and the fact that internal force lies in the null space of jacobian matrix, we construct independently the position, motion-inducing force and internal force controller. Secondly we construct the robust controller to preserve the robustness with respect to the uncertainty of manipulator parameters.