• Journal of Institute of Control, Robotics and Systems
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• v.22 no.8
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• pp.603-609
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• 2016

This paper presents an optimally designed master device mechanism for teleoperated interventional robotic system. The interventional procedures using the teleoperated robotic system and the physicians' requirements are summarized. The master device should implement 5-DOF motion including 2-DOF translational motion for the entry position control, 2-DOF rotational motion for the orientation control, and 1- DOF translational motion for needle insertion. The handle assembly includes a 1-DOF translational mechanism for needle insertion and buttons for operation mode selection. The mechanisms for the 2-DOF translational motion and the 2-DOF rotational motion are designed using motors and brakes based on the various mechanisms to satisfy all the above requirements, respectively. Absolute position sensors are adopted to implement automatic initial positioning and orientation matching at the first step of needle insertion.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.211-215
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• 1989

This paper describes a dynamic robotic assembly system in which an industrial robot executes peg-in-hole task in a moving state. As an effective means to synchronize the end-effector of the robot with the moving conveyor this work uses a control algorithm which is essentially a PID position control scheme combined with velocity feedforward loop. A RCC wrist is used for the inserting task and its force responses are investigated for various tracking conditions and inserting velocities through a series of experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2435-2439
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• 2005

In case of visual sensing systems with multiple mirrors, systematic errors need to be reduced by the system calibration and the mirror position adjustment in order to enhance system measurement accuracy. In this paper, a self calibration method is presented for a visual sensing system designed to measure the three-dimensional information in deformable peg-in-hole tasks. It is composed of a CCD camera and a series of mirrors including two pyramidal mirrors. By using an image of the inner pyramidal mirror taken by the system, the error parameters of the inner pyramidal mirror could be calibrated or adjusted. Also the influence of the plane mirrors is investigated.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.917-922
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• 1990

Pattern classification is an essential step in automatic robotic assembly which joins together finite number of seperated industrial parts. In this paper, a fast and systematic algorithm for classifying occlusion-free objects is proposed, using the notion of incremental circle transform which describes the boundary contour of an object as a parametric vector function of incremental elements. With similarity transform and line integral, normalized determinant curve of an object classifies each object, independent of position, orientation, scaling of an object and cyclic shift of the stating point for the boundary description.

• The Journal of Korea Robotics Society
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• v.2 no.1
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• pp.64-70
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• 2007

In this paper, a robotic system which consists of a precision manipulator and a micro gripper for a micro system assembly is presented. By the experiment, we proved that the developed the system gives acceptable performance when minute operations. Developed the micro-nano robot is actuated by newly proposed modular revolute and prismatic actuators. As an end-effector of this system, micro gripper is designed and fabricated with MEMS technology and the displacement of jaw is up to 142.8 micro meter. We think that new robot system will be appropriate for micro system assembly tasks and life science application.

• Proceedings of the KIEE Conference
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• 1987.11a
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• pp.439-443
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• 1987

This paper presents a method for constructing model of manufacturing processes for simulation and design of the discrete control logic. The models represent the discrete vent evolution of the system as well as features of the underlying continues processes, for applications such as discrete parts manufacture and assembly, the process is decomposed into operations and for each operation the required resources and associated discrete resource slates are Identified. The structure of the discrete-level control is modeled by modified Perti nets which are synthesized from single resource activity cycles. Construction of nets provides discrete control logic with guaranteed properties based on extended Petri nets theory, for illustration, the proposed method is applied to the high-level discrete control of a two-robotic assembly cell.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.12
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• pp.2315-2327
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• 1992

A robot assembly method which uses configuration and force/torque information of tactile sensor system and performs chamferless peg-in-hole tasks is suggested and experimentally studied. When the robot gripes the peg with random orientation, the realignment of the peg to the hole center line is successfully performed with the gripping configuration information of the tactile sensor and the inverse kinematics of the robot. The force/torque information of the tactile sensor makes it possible to control the contacting force between mating parts during hole search stage. The suggested algorithm employs a hybrid position/force control and the experiments show that the algorithm accomplishes well peg-in-hole tasks with permissible small contacting force. The chamferless peg-in-hole tasks with smaller clearance than the robot repeatibility can be excuted without any loss or deformation of mating parts. This study the possibility of precise and chamferless parts mating by robot and tactile sensor system.

• Journal of the Korean Society of Clothing and Textiles
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• v.48 no.2
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• pp.312-327
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• 2024

In this study, a rehabilitation 3D printed wearable device was developed by combining an assembly-type robot hand and an integral-type robot hand through fused deposition 3D printing manufacturing with various hardness TPU (Thermoplastic Polyurethane) filaments. The hardware configuration of the robot hand includes a controller designed with four motors, one small servo motor, and a circuit board. In the case of the assembly-type robot hand model, a 3D printed robot hand was assembled using samples printed with TPU of hardness 87A and 95A. It was observed that TPU with a hardness of 95A was suitable for use due to shape stability. For the integrated-type robot hand model, the external sample using TPU of hardness 95A could be modified through a cutting method, and the hardware configuration is the same as the assembly-type. The system structure of the 3D printed robot hand was improved from an individual control method to a simultaneous transmission method.Furthermore, the system architecture of an integrated 3D printed robotic hand rehabilitation device and the application of the rehabilitation device were developed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.4
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• pp.347-352
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• 2011

The maximum accuracy of position control by using an industrial robot is about $100{\mu}m$, whereas the maximum tolerated imprecision in the position of precision parts is about several tens of micrometers. Therefore, it is very difficult to assemble parts by position control only. Moreover, in the case of precision assembly, jamming or wedging can easily occur because of small position/orientation errors, which may damage the parts to be assembled. To overcome these problems, we investigated a force control scheme that provides proper motion in response to the contact force. In this study, we constructed a force control system that can be easily implemented in a position-controlled manipulator. Impedance control by using an admittance filter was adopted to perform stable contact tasks. It is shown that the precision parts can be assembled well by adopting impedance control and blind search methods.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.417-422
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• 1990

For the robot manipulator in performing precision task, it is indispensable that the robot utilize the various sensors for intelligence. This paper presents the development and implementation of an integrated control system for the control of robotic manipulator, a feeder, a conveyor belt system, force/torque sensor system, and a photo sensor system. Micro controller board was constructed for hierarchical control of the system. To set up the program interactively, a user can make use of the software which includes the full-down menu and a dialog box. The user can make progress the program quickly and easily by a mouse. The related software was written in C and assembly languages.