• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.383-384
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• 2013

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.371-372
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• 2013

• 대한임베디드공학회논문지
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• 제8권6호
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• pp.295-301
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• 2013

In this paper, we propose a real-time centralized soft motion control system for high speed and precision robot control. The system engages EtherCAT as high speed industrial motion network to enable force based motion control in real-time and is composed of software-based master controller with PC and slave interface modules. Hard real-time control capacity is essential for high speed and precision robot control. To implement soft based real time control, The soft based master controller is designed using a real time kernel (RTX) and EtherCAT network, and servo processes are located in the master controller for centralized motion control. In the proposed system, slave interface modules just collect and transfer all sensor information of robot to the master controller via the EtherCAT network. It is proven by experimental results that the proposed soft motion control system has real time controllability enough to apply for various robot control systems.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 추계학술대회 논문집
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• pp.231-232
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• 2010

• 융복합기술연구소 논문집
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• 제4권2호
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• pp.55-59
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• 2014

A cat is able to quickly recover balance from unstable posture. To observe the balance recovery procedure of the cat, an impulse is applied to the cat while walking on a narrow bridge. We find that it rotates its tail toward the falling direction. In our previous research, the balance recovery procedure is analyzed based on the law of the angular momentum conservation and then a key equation is derived to maintain the balance. However, it did not consider the gravity, so the performance is not good. In this paper, a new dynamic model is proposed using the Lagrangian mechanics. In the method, the gravity is included in the potential energy. Through the proposed dynamic model, controlling the balance of a walking robot is possible.

• 제어로봇시스템학회논문지
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• 제14권5호
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• pp.467-472
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• 2008

In this paper, we design, implement and apply network physical layer to 100 BaseFx optical cable interface module based on industrial ethernet protocol which is physical layer of EtherCAT that has ensure its open standard ethernet compatibility which having been provided with real time of control in network of intelligent service robot, can be process numerous data to sensor and motor control system. Through BLDC motor control performance tests, we try to propose suitability as internal network of intelligent service robot and automation system.

• 한국산업융합학회 논문집
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• 제21권1호
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• pp.37-44
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• 2018

In this work, a 4-DOF industrial robot system with three translational and one rotational motions which is widely used in palletizing applications is developed. In order for small robot manufacturing companies to develop their own robot systems for CNC machining and/or general automations, the analysis and design methods of a 4-DOF robot manipulator are presented and the development of a PC-based robot controller with EtherCAT are introduced. It is noted that the robot controller is developed by using Simulink Real-Time, which can provide an integrated environment of easier control algorithm development and data logging. Through position control and accuracy/repeatability measurement results, the developed robot prototype has comparable performances with commercial counterparts. In the future works, the advanced functions of industrial robots such as kinematic calibration, vibration suppression control, computed torque control, etc. will be investigated.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제9권3호
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• pp.244-248
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• 2009

This paper describes a real-time EtherCAT Master library. The library is developed using Xenomai. Xenomai is a real-time development framework. It cooperates with the Linux kernel, in order to provide a pervasive, interface-agnostic, hard real-time support to user-space applications, seamlessly integrated into the GNU/Linux environment. The proposed master library implements EtherCAT protocol for master side, and supports Application Programming Interfaces(APIs) for programming of real-time application which controls EtherCAT slave.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제9권2호
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• pp.94-98
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• 2009

This paper proposes an architecture of a real-time EtherCAT master library called RtEML. The controls EtherCAT slaves under EtherCAT protocol in real-time. It provides a simple programming interface which is useful in developing robot application in C/C++ or C#. To achieve deterministic, hard real-time control in Microsoft Windows environment without additional hardware, INtime is used. Since INtime is designed specifically to take advantage of the powerful capabilities of the x86 processor architecture, the proposed RtEML achieves microseconds of real-time performance.

• 한국전자통신학회논문지
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• 제7권3호
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• pp.553-558
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• 2012

최근에 로봇에서 다축 모션 제어를 위한 노력이 계속되고 있다. 본 논문에서는 로봇에서 다축 모션 제어를 쉽게 할 수 있는 AC 서보 드라이버를 구현 기법을 제안한다. 제안한 방법은 먼저 상위의 제어기 단과 드라이버단 사이의 통신을 위해 WDM 방식을 적용한 싱글 광 코어 기반의 양방향 광 EtherCAT 통신 기술을 적용하여 구현한다.