• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.119-122
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• 2001

This paper discusses the peg-in-hole task of chamferless parts using force/moment/vision sensors. The directional error occurring during the task are categorized into two cases according to the degree of initial errors, And different Mechanical analysis has been accomplished for each cases. This paper proposes an algorithm which enables to reduce intial directional error using digital Images acquired from hand-eyed vision sensor, And to continue the task even with the large directional error by adjusting the error using digital image processing. The effectiveness of the algorithm has been demonstrated through experimentation using 5-axis robot equipped with a developed controller force/moment sensor and color digital camera on its hand.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.3
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• pp.315-324
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• 2019

This paper present a novel 6-axis robotic base platform with force/moment sensing. The robotic base platform is made up of six loadcells connecting the moving plate to the fixed plate by spherical joints at the both ends of loadcells. The statics relation is derived, the robotic base platform prototype and the loadcell measurement system are developed. The force/moment calibrations in joint and Cartesian spaces are performed. The algorithm to detect external force applied at a working robot is derived, and using a 6-DOF robot mounted on the robotic base platform, force/moment measurement experiments have been performed.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.1
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• pp.89-96
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• 2009

This paper describes the intelligent robot's hand with three finger sensors for a humanoid robot. In order to grasp an unknown object safely, the intelligent robot's hand should measure the mass of the object, and determine the grasping force using the mass, finally control the grasping force using the finger sensors and the controller. In this paper, the intelligent robot's hand for a humanoid robot was developed. First, the six-axis force/moment sensor was manufactured. second, three finger force sensors were designed and fabricated, third, the high-speed controller was manufactured using DSP(digital signal processor), finally, the characteristic test for determining a grasping force and for grasping an unknown object safely It is confirmed that the hand could grasp an unknown object safely.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.10a
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• pp.297-298
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• 2009

• Journal of the Society of Naval Architects of Korea
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• v.61 no.3
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• pp.200-207
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• 2024

A multi-component force sensor has been developed to measure force and moment components in high-speed flow media for submerged models. The size of the test model is determined based on the Reynolds number of the model at the test speed and expected blockage effect. A two-component force sensor unit has been created by assembling pairs of column elements arranged symmetrically under an eccentric load. The six-component force sensor is constructed with symmetric arrangements of two-component force sensor units in a rectangular plane. The signals generated from the strain gauges attached to the surface of the elements can be converted into force signals. The performance of the waterproof six-component force sensor has been evaluated through calibration. A simplified interference decomposition procedure has been introduced to increase the accuracy of measurement.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.5
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• pp.96-103
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• 2009

This paper describes a humanoid robot's intelligent foot with two six-axis force/moment sensors. The developed humanoid robots didn't get the intelligent feet for walking on uneven surface safely. In order to walk on uneven surface safely, the robot should measure the reaction forces and moments applied on the sales of the feet, and they should be controlled with the measured the forces and moments. In this paper, an intelligent foot for a humanoid robot was developed. First, the body of foot was designed to be rotated the toe and the heel to all directions, second, the six-axis force/moment sensors were manufactured, third, the high-speed controller was manufactured using DSP(digital signal processor), fourth, the humanoid robot's intelligent foot was manufactured using the body of foot, two six-axis force/moment sensors and the high-speed controller, finally, the characteristic test of the intelligent foot was carried out. It is thought that the foot could be used for a humanoid robot.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2007.11a
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• pp.221-222
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• 2007

• Journal of the Korean Society for Precision Engineering
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• v.26 no.11
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• pp.62-69
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• 2009

This paper describes the development of the new type equilibrium sensation measuring system for human with handicap in the equilibrium sensation. The medium and small hospital could not use the developed equilibrium sensation measuring system, because it is very high prices. Therefore, the new type system should be developed to measure the numerical value of the equilibrium sensation in human with handicap. In this paper, First, two 3-axis force/moment sensors which can measure force Fz, moments Mx and My simultaneous were designed and manufactured, second, the high speed measuring device which can acquire the output from two 3-axis force/moment sensors, third, the new type equilibrium sensation measuring system was developed, then the characteristic test of the developed equilibrium sensation measuring system carried out, it is confirmed that the system could measure the swing body of human with handicap.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2007.11a
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• pp.45-46
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• 2007

• Proceedings of the KSME Conference
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• 2001.06a
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• pp.837-841
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• 2001

The column-type sensing element in building and mechanical construction parts was designed as three forces and three moments sensor by attaching strain gages approximately. Compared to conventional multi-component sensor, the designed sensor can solve the problem about low stiffness and high cost. The radius of the column was designed analytically and compared with finite element analysis. The coupling errors between components were minimized by using addition and subtraction procedure of signals. The fabricated sensor was tested by using a deadweight force standard machine and a six-component force calibration machine in Korea Research Institute of Standards and Science(KRISS). The calibration showed that the multi-component force/moment sensor had coupling error less than 19.8 % between $F_x$ and $M_y$ components, and 9.0 % in case of other components.