• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.23 no.5
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• pp.421-427
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• 2014

In this paper, the kinestatic control algorithm using a six-axis compliant device is presented. Unlike the traditional control methods using a force/torque sensor with very limited compliance, this method employs a compliant device to provide sufficient compliance between an industrial robot and a rigid environment. This kinestatic control method is used to simply control the position of an industrial robot with twists of compensation, which can be decomposed into twists of compliance and twists of freedom. A simple design method of a six-axis parallel-type compliant device with a diagonal stiffness matrix is presented. A compliant device prototype and kinestatic control hardware system and programming were developed. The effectiveness of the kinestatic control algorithm was verified through two kinds of kinestatic control experiments.

• Journal of the Korean Society of Industry Convergence
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• v.4 no.3
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• pp.339-347
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• 2001

Automatic automobile has been studied as the alternative energy system and the production flow automation device recently. But this is dependent on the import production, and its position cannot be controlled free from the fixed path. It is difficult to control the automobile position because of the eccentricity of inertia monent, slip and roughness between wheel and road surface. This problems is solved for the controller to be feedbacked the data of the multi-sensor system consisting of the rotary encoder and electronic compass. The proportional Integrated controller in the modified Ziegler-Nichols method is made up with Hitachi 7034 microprocessor. To the real time control the mechanical, electrical and electronic hardware and software device is produced by myself. The RF data of automobile speed and position is supplied to the remote PC to be displayed the automobile condition. By the experinent of the forward, spin, point path planning, it is known for autombile.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 1998.10a
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• pp.203-211
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• 1998

ER clutch is a device using electro-rheological fluid which is one of so called intelligent materials. Power transmission behavior of an ER clutch can be controlled by electrical field applied tb the fluid. In this work, a new type of servomechanism is developed with two ER clutchs, driven by two electrical motors rotating in reverse directions. The concentric cylinder type ER clutch is operated by PID control. The system shows good angular position control characteristics with respect to sinusoidal and square inputs.

• Journal of the Korean Society of Industry Convergence
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• v.26 no.1
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• pp.211-215
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• 2023

In this paper, the stability and effectiveness of the force control with a 6-axis compliance device are verified by performing comparative experiments with a commercial F/T sensor. The position/force control algorithm based on the Cartesian stiffness of a compliance device is briefly introduced and the design result of a 6-axis compliance device with F/T sensing is presented. The comparative experiments show that the force control using a compliance device is much more stable than that with rigid F/T sensor due to the enough compliance of a compliance device larger than robot positional resolution.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.7 s.184
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• pp.59-66
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• 2006

In laser welding, automatic seam tracking is important to adjust the laser head position in real time as it moves along the seam. Also if the joint gap is occurred, filling the missing material into the joint gap is necessary to prevent welding defects and bad welding quality. In general, the joint gap width is not constant along the seam due to a variety of reason. So it is essential to control the filler wire speed into the joint gap to acquire good welding quality. This paper describes an intelligent filler wire feeding device which can control 3-dimensional seam tracking and the filler wire speed by measuring the gap position and the joint gap width in laser welding. We call this device as Smart Micro Control system(SMC). To achieve this objective, we assessed weld quality in 2mm sheets of A16061 which had various gap width by using the developed device. From the experimental results, It was found the possibility that the developed device could be used in welding various 3-dimensional structures.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.3 s.174
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• pp.653-660
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• 2000

The automatization by industrial robot of today is merely rely on to the simple position repeating works, but requirements of research and development to the force control which would adapt positively to various restriction or contacting works to environment. In this paper, a learning control algorithm using, neural networks is proposed for the position and force control by a direct-drive robot. The proposed controller is the feedback controller to which the learning function of neural network is added on to and has a character of improving controller's efficiency by learning. The effectiveness of the proposed algorithm is demonstrated by the experiment on the hybrid position and force control of a parallelogram link robot with a force sensor.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.8
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• pp.851-858
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• 2009

In this study, we propose a new input device using vision technology for positioning of multiple DOFs. The input device is composed of multiple Tags on a transparent table and a vision camera below the table. Vision camera detects LEDs at the bottom of each Tag to derive information of the ID, position and orientation. The information are used to determine position and orientation of remote target DOFs. Our developed approach is very reliable and effective, especially when the corresponding DOFs are from many independent individuals. We show an application example with a SCARA robot to prove the flexibility and extendability.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1216-1219
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• 2003

The position control is very important in semiconductor manufacturing devices, precision machining tools, precision measuring instruments, etc. The accuracy of measurement for the distance in these devices affect on the performance of the whole devices. Therefore, in those precision instruments, a sensing device that can measure the distance of movement with high-precision resolution is required. In this paper, a novel hybrid (digital and analog) type encoder is proposed. It is shown that from several experiments, a high-resolution angular position measurement device can be designed with a low cost incremental encoder and a DSP controller.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.2
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• pp.132-139
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• 2001

In this research, we have developed a load/unload device capable of correcting the position automatically. Characteristic technologies such as compensation, control, guidance and communication have been modified and implemented on an existing electromagnetic guided AGV, helping to realize open system and distributed cooperation. We have applied the developed AGV with remote control and heterogeneous load/unload mechanisms in a machining system composed of various equipment such as machining centers, CMN and AS/RS and found that the AGV provided position error within $\pm$2mm.

• Journal of the Korea Society of Computer and Information
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• v.21 no.7
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• pp.39-46
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• 2016

In this paper, we proposed an application which can conduct to take repetition images for special effect shooting at movies or drama using Bluetooth of smart device. The proposed application can move a camera with motors several times as the same moving after saving of the control data based on the application during specific time using Bluetooth. At the repetition moving, we do not permit to control motors of the camera by person for keeping the same start position and end position after saving the moving data. The camera motors are only moved remotely by saving data of the proposed application. We developed the proposed application and a hardware which works motors with camera to check performance evaluation. Then, we confirmed that the proposed application exactly did the same moving to the motors with camera several times according to saved data. Therefore, because the proposed application can take a same images as control remotely the motors of camera, it will be a useful technology for special effect shooting of movies or dramas.