• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.395-396
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• 2006

This paper presents the optimal design of Robot-Arm part use Design of Experiment(DOE). The DOE(Design of Experiment)was conducted to find out main effect factors for design of Robot-Arm part. In this design of Robot-Arm, 5 control factors include numbers of 4 level are selected and we make out L16 orthogonal array. Using this orthogonal array, find out optimal value and main effect factors of object function for design of Robot-Arm part by 16 times of test. We evidence this optimal value by using CATIA V5 Analysis.

• 한국공작기계학회논문집
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• 제15권4호
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• pp.69-73
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• 2006

This paper present the optimal cleaning condition of the out-hull preprocessing robot by Taguchi method in design of experiments. A $L_8(2^4)$ orthogonal array is adopted to study the effect of adjustment parameters. The adjustment parameters consist of robot speed, motor torque, motor speed and tool angle. And the quality feature is selected as surface roughness of sheet metal. Taguchi analysis is performed in order to evaluate the effect of adjustment parameters of the quality feature of cleaning process by $Minitab^{(R)}$.

• 제어로봇시스템학회논문지
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• 제22권1호
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• pp.53-58
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• 2016

Various jumping robot platforms have been developed to carry out missions such as rescues, explorations, or inspections of dangerous environments. We suggested a jumping robot platform using energy conversion of the elastic body like the bar of a pole vault, which is the main part in which elastic force occurs. The compliant link was optimized by an optimization method based on Taguchi methodology, and the robot's leaping ability was improved. Among the parameters, the length, width, and thickness of the link were selected as design variables first while the others were fixed. The level of the design variables was settled, and an orthogonal array about its combination was made. In the experiment, dynamic simulations were conducted using the DAFUL program, and response table and sensitivity analyses were performed. We found optimized values through a level average analysis and sensitivity analysis. As a result, the maximum leaping height of the optimized robot increased by more than 6.2% compared to the initial one, and these data will be used to design a new robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1593-1596
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• 1997

Because the leg mechanism of walking roblt affect on the mobility and energy efficiency, we focus on the design of new leg mechanism based on the previous leg mechanisms. We mention the deficiency of the previous leg mechanisms and propose a new leg mechanism that consists of a 2-d.o.f pantograph mechanism and a vertical linear actuator. The pantograph mechanism is attached to the horizontal plane of the body and the verical linear actuator is vertical to that plane. In order to design a quadruped walking robot, we consider the kinematics of the 2-d.o.f pantograph mechanism and the arrangement of twol linear motion guides that drive the pantograph mechanism.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 춘계학술대회 논문집
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• pp.353-354
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• 2010

• 한국기계기술학회지
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• 제13권1호
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• pp.95-103
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• 2011

Robots in various types carry and assemble parts through repeatedly and accurately moving to stored locations by combining linear motions. And, linear systems are used in orthogonal axes of robots and driven via ball screws, such as 2-axis cartesian coordinate robot in this paper. This paper presents the effect of the linear motion guide that is used in $2^{nd}$ axis in 2-axis cartesian coordinate robot. Some simulation results show that the linear motion guide influence greatly in robot performance such as the nominal life of linear guide. When use LM guide that have capacity near in $2^{nd}$ axis, this paper show that the nominal life on LM block of $1^{st}$ axis increases 37.4% and that the specification of $2^{nd}$ axis LM guide influences greatly the nominal life of $1^{st}$ axis LM block.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2019년도 춘계학술대회
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• pp.436-438
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• 2019

에어하키 로봇은 머신 비전 시스템으로 하키 공을 카메라를 통해 인식하여 사용자와 플레이를 할 수 있다. 하키 공의 위치 감지는 OpenCV 라이브러리를 사용하여 공의 색 정보를 이용하여 인식하게 구현하였다. 하키 공의 위치를 감지하고 또한 그 궤적을 예측하여 결과를 ARM Cortex-M 보드로 전송한다. ARM Cortex-M보드는 2축 직교 로봇을 제어하여 에어 하키 경기를 진행한다. 에어 하키 로봇의 전략에 따라 수비, 공격, 수비과 공격 모드로 동작시킬 수 있다. 본 논문에서는 비전 시스템 개발과 궤적 예측 시스템에 관해 기술하고 에어 하키 경기를 진행하는 2축 직교 로봇을 제어하는 새로운 방법을 제시한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.1-6
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• 1992

A principle of "orthogonalization" is proposed as an extended notion of hybrid (force and position) control for robot manipulators under geometric endpoint constraints. The principle realizes the hybrid control in a strict sense by letting position and velocity feedback signals be orthogonal in joint space to the contact force vector whose components are exerted at corresponding joints. This orthogonalization is executed via a projection matrix computed in real-time from a gradient of the equation of the surface in joint coordinates and hence both projected position and velocity feedback signals become perpendicular to the force vector that is normal to the surface at the contact point in joint space. To show the important role of the principle in control of robot manipulators, three basic problems are analyzed, the first is a hybrid trajectory tracking problem by means of a "modified hybrid computed torque method", the second is a model-based adaptive control problem for robot manipulators under geometric endpoint constraints, and the third is an iterative learning control problem. It is shown that the passivity of residual error dynamics of robots follows from the orthogonalization principle and it plays a crucial role in convergence properties of both positional and force error signals.force error signals.

• 대한전기학회논문지
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• 제39권6호
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• pp.638-648
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• 1990

An effective resolved motion control method of redundant manipulators is proposed to minimize the energy consumption and to increase the dexterity while satisfying the physical actuator constraints. The method employs the neural optimization networks, where the computation of Jacobian matrix is not required. Specifically, end effector movement resulting from each joint differential motion is first separated into orthogonal and tangential components with respect to a given desired trajectory. Then the resolved motion is obtained by neural optimization networks in such a way that 1) linear combination of the orthogonal components should be null 2) linear combination of the tangential components should be the differential length of the desired trajectory, 3) differential joint motion limit is not violated, and 4) weighted sum of the square of each differential joint motion is minimized. Here the weighting factors are controlled by a newly defined joint dexterity measure as the ratio of the tangential and orthogonal components.

• 대한기계학회논문집
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• 제14권6호
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• pp.1455-1463
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• 1990

In this study the feasibility of a dynamic gait for a given quadruped walking robot is investigated through a computer simulation of the walking with certain drivings of the actuators. Two planar inverted pendulums are used to represent the dynamic model of the leg of the walking robot. It's gait motion is assumed to be periodic and symmetric between left and right sides only with half cycle delay. The dynamics of the walking robot is simplified by introducing two virtual legs to produce two planar inverted pendulums in two orthogonal planes and on the basis that certain legs in pair act as one. The feasibility of the dynamic gait motion is established from the following two necessary conditions:(1) The position and velocity of a foot must satisfy the stroke and velocity requirements.(2) The gait motion should be periodic without falling down. The gait feasibility test was applied to a walking robot design showing the specific acceptable speed range of the robot in trot. Also it showed that the higher body height may produce the faster trot gait.