• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.20-24
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• 1997

In general, pantograph type manipulators are used for carrying heavy payloads with positional accuracy. In this paper, a double pantograph type manipulator, activated by two slider joints, is studied for applying to file handing machine in atomic power plant. In order to realize the stable horizontal movement of a heavy fuel rod whit good positional accuracy, methods for allocating slider and finding constant joint rates are proposed. In addition, the static deflection of the proposed mechanism was studied using transfer-stiffness matrix method. A neural network control algorithm which compensates static deflections is explored with computer simulations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.552-558
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• 1993

In this paper, control of a planar two-link structurally flexible robotic manipulator executing unconstrained and constrained maneuvers is considered. The dynamic model, which is obtained by using the extended Hamilton's principle and the Galerkin criterion, includes the impact force generated during the transition from unconstrained to constrained segment of the robotic task. A method is presented to obtain the linearized equations of motion in Cartesian space for use in designing the control system. The linear quadratic Gaussian with loop transfer recovery (LQG/LTR) design methodology is exploited to design a robust feedback control system that can handle modeling errors and sensor noise, and operate on Cartesian space trajectory errors. The LQG/LTR compensator together with a feedforward loop is used to control the flexible manipulator. Simulated results are presented for a numerical example.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1992년도 춘계학술대회 논문집
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• pp.369-373
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• 1992

Force control of a planar two-link structurally flexible robotic manipulator is considered in this study. The dynamic model is obtained by using the extended Hamilton's principle and the Galerkin criterion. A method is pressented toobtain the linearized equations of motion in Cartesian space for use in designing the control system. The approachto solving the control problem is to use feedforward and feedback control torques. The feedforward torques maneuver the flexible manipulatro along a nominal trajectory and the feedback torques minimize any deviations from the nominal trajectory. The linear quadratic Gaussian/loop transfer recovery (LQG/LTR) design methodology is explotied to design a robust feedback control system that can handle modeling errors and sensor noise, and operates on Cartesian space trajectory errors. The Lqg/LTR compenstaor together with a feedforward ollp is used to control the flexible manipulator. Simulated results are presented for a numerical example.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 추계학술대회 논문집
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• pp.744-747
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• 2005

This research studied 6-Axes Articulated Robot Manipulator's gain Tuning in consideration of dynamic. First of all, search fur proportional gain of velocity control loop by dynamic signal analyzer. Proportional gain of velocity control loop is connected to dynamic signal analyzer. Next Select free Proportional Gain value. And Select amplitude X of sinusoidal properly so that enough Velocity Feedback Signal may be paid as there is no group to utensil department. Next step, We can get Bode Diagram of Closed loop transfer function response examination in interested frequency. Integral calculus for gain of velocity loop is depended on integral calculus correction's number. We can obtain open loop transfer function by integrator. And we can know bode diagram's special quality from calculated open loop transfer function. With this, Velocity Control Loop's Parameter as inner loop is controlled. Next In moving, when vibration occurs, it controls notch filter. And finally, we have to control fred-forward filter parameter for elevation of control performance.

• 대한기계학회논문집A
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• 제38권10호
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• pp.1109-1116
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• 2014

본 연구에서 제안된 차량용 휠체어 수송메커니즘은 크게 이송메커니즘과 수납메커니즘으로 구성된다. 여기서 휠체어 이송메커니즘은 매니퓰레이터로 구성되며, 차량의 루프에 설치되어 운전석에서 트렁크의 위치까지 휠체어를 이송하는 기능을 한다. 휠체어 수납메커니즘은 리프팅 호이스트로 구성되며, 차량의 트렁크에 설치되어 이송된 휠체어를 트렁크 내부로 수납하고 안전하게 고정하는 기능을 한다. 본 연구에서는 휠체어 이송메커니즘의 조건을 고려한 매니퓰레이터의 방식선정을 위해 수직방식, 수평방식, 텔레스코픽방식 등에 대하여 분석하고 검토하여 하중지지에 강하고 수납보관에 유리한 텔레스코픽방식을 선정하여 적용하였다. 또한 휠체어 수납메커니즘에서는 슬라이드 레일과 리프트와이어에 의한 슬라이드 호이스트방식과 웜기어와 링크로 구성된 회전메커니즘에 의한 회전링크 호이스트방식에 대하여 분석하고 검토하여 트렁크 공간 활용에 유리한 슬라이드 호이스트방식을 선정하여 적용하였다. 본 연구에서 제안된 차량용 휠체어 이송메커니즘은 기존의 휠체어 이용자 이동지원을 위한 차량용 휠체어 이송시스템의 단점을 해소하고 국내 장애인복지차량 구조에 부합하도록 제안하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.249-249
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• 2000

This paper introduces a clean mobile robot fur 4th generation LCD cassette, which is guided by optical sensor and position compensation using vision module. The mobile robot for LCD cassette transfer might be controlled by AGV controller which has powerful algorithms. It offers optimum routes to the destination of clean mobile robot by using dynamic dispatch algorithm and MAP data. This clean mobile robot is equipped with 4 axes fork type manipulator providing repeatability accuracy of $\pm$ 0.05mm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1986년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 17-18 Oct. 1986
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• pp.317-320
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• 1986

A co-operative position control is proposed for two robot manipulators with 5 degree of freedoms to transfer an object following a specified trajectory, where each manipulator is assumed to change the posture of its end effector without releasing the object.

• 생물환경조절학회지
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• 제6권1호
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• pp.55-65
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• 1997

본 연구는 육묘용 로봇 이식기를 개발하기 위한 목적으로 수행되었으며 그 결과는 다음과 같다. 1. 기계시각에 의한 결주 및 불량묘 판별은 72공 플러그묘판의 경우 98.8%, 128공의 플러그묘판의 경우 94.9%, 잎의 방향을 고려한 경우 72공의 플러그묘판의 경우 93.5%, 128공의 경우 91.0%의 정확도를 나타내었다. 2. 로봇 이식기의 기구부와 구동부를 개발하였고, 이를 제어하기 위한 제어기를 개발하였으며, 머니플레이터의 위치제어 정확도는 $\pm$ 1mm로 나타났다. 3. 잎의 방향을 고려하지 않은 이식방법에서의 이식성공률은 72공 플러그묘판의 경우 95.5%, 128공의 플러그묘판의 경우 94.5%로 나타났으며, 잎의 방향을 고려한 이식방법에서의 이식성공률은 72공의 경우 96.0%, 128공의 경우 95.0%로 나타났다.

• 한국축산시설환경학회지
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• 제6권2호
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• pp.113-119
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• 2000

A Robotic milking cluster system with the manipulator for an automatic milking system was designed and built for farmer to work easily and comfortably during milking processing. The cluster system was composed of screws, cams and links for power transmission, DC motors, the Quick Basic one-chip microprocessor, the vision system for image processing, and tea-cups. Software, written in Visual C+ and Quick Basic, combined the function of image capture, image processing, milking cluster control, and control into one control. The unit was made to transfer from four fixed points to four teats with four teat-cups. Performance tests of the cluster unit, the fully integrated system, were conducted to attach and detach the teat-cup on the teat of a artificial cow. The transfer programming provided for a teat-cup milking loop during the system starts and comes back the original fixed point at the manipulator of it for milking. It transferred the teat-cup with a success rate of more than 70%. The average time it took ot perform the milking loop was about 20 seconds.

• 대한기계학회논문집
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• 제16권7호
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• pp.1307-1313
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• 1992

본 연구에서는 유연한 조작기의 끝점 위치 제어를 위해 LQG/LTR 제어법을 적 용함으로서 기존의 고전적 제어방법과 비교하고자 한다.