• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.58-64
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• 2024

The ability of the robot gripper to handle a wide range of objects significantly impacts its operational effectiveness. Among the robot grippers commonly used, the economically feasible choice is the relatively simple structure of a parallel gripper. To perform more densely packed tasks with a parallel gripper, it should be capable of handling small objects. Therefore, this study designs a parallel gripper mechanism equipped with assisting grippers to ensure smooth grasping of small objects. The parallel gripper is designed using a rack and pinion gear system, with two additional grippers on both side, and these assisting grippers are designed to be detachable. The two assisting grippers have different type of tip to grasp thin fabric shapes and thin stick shapes. The gripper prototype is used to verify the grasping capabilities for shapes achievable with a conventional parallel gripper and those intended for grasping with the assisting grippers through grasping experiments. Consequently, by equipping a conventional parallel gripper with assisting grippers as in this study, it becomes capable of handling a broader range of objects, in addition to its existing functionality.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.2
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• pp.14-21
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• 1993

Pneumatic actuators have greater power to weight ratio than electric ones, but they have been rarely used as robotic actuators because of poor accuracy resulted from nonliearity of air. On the other hand, electric servo motors have glld controllability, but they have poor power to weight ratio. For the heavy load handling robot a combined actuating method was developed for vertical and horizontal axes of RISTBOT-ll which handles up to 250kgf load. In this paper, the control method is implemented and analyzed for the manufactured heavy load handling robot.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.2
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• pp.160-168
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• 1997

A $H_{\infty}$self-tuning control scheme for the tip position of a flexible link robot handling unknown loads is presented here. The scheme essentially comprises a recursive least-squares identification algorithm and $H_{\infty}$self-tunning controller. The $H_{\infty}$control low is designed to be robust to uncertain parameters and the self-tunning action provides adaption to unknown parameters. Through numerical study, the performance comparison of the $H_{\infty}$self-tuning controller with a constant gain $H_{\infty}$controller as well as a LQG self-tuning controller clearly shows its superior ability in handling load changes in quiescent states.nt states.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.168-171
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• 1993

In this paper, we design a time optimal controller of a dual arm robot to handle the object. Differently from the master-slave type robot, same priority is imposed on the both of the arms for effective handling the specifed object. For finding a time optimal collision-free trajectory, a graphical method is applied for the robot with two degree of freedom. Some simulation results show the effectiveness of the proposed method.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.2
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• pp.98-104
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• 2005

A glass transfer robot is used for handling LCDs in the production line of flat panel displays under clean environments. During glass transfer operations of the robot, chattering phenomenon occurs at the robot hand. This deteriorates the accuracy and repeatability of the end-effector of the robot. In this paper, we present the kinematic solution of the robot and then analyze the cause of this chattering phenomenon in view of the mechanism and servo control and propose a practical solution that can reduce the chattering significantly at the robot hand of the glass transfer robot.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.183-184
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• 2010

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.28 no.2
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• pp.24-30
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• 2014

In this paper, a new remote terminal unit(hereafter RTU) is proposed to manage a wide range of applications and a variety of sensors (eg, pressure, water quality, temperature and humidity sensors, the amount of pollutants, $CO_2$, etc.) to monitor and control the facility such as water treatment plant, intake and effluent pumping station, water tank and distribution network. Fault status of local sensor devices and network are alerted by using the embedded fault handling capabilities of the RTU in the system and also sent to the fault handling server, by which fault can be easily monitored to users. The developed system was applied to one of K-water branch offices in Geoje city and improved its reliability and stability for controlling and monitoring water facility.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.18 no.5
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• pp.23-28
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• 2019

In recent years, medium- to large-scale transportation machinery and machine tool manufacturing process lines have shown a trend toward centralization, softening, lightening, and slimming to reduce costs and increase productivity. This has increased the demand for vertical articulated robots. When developing and introducing a heavy weight-handling robot that can be easily applied to existing production lines, it is expected to have a great effect in securing industrial competitiveness by solving industrial issues such as the decreased productivity and increased risk of accidents due to work involving heavy lifting. In this study, we design a 6-axis robot mechanism with a heavy load-handling capacity of 700kg or more for large-sized materials of various types supplied in small quantities.

• 전기의세계
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• v.29 no.8
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• pp.491-494
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• 1980

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.6
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• pp.2760-2769
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• 2011

An intelligent autonomous robot generates a plan to achieve a goal. A plan is a sequence of robot actions that accomplish a given mission by being successfully executed. However, in the complex and dynamic real world, a robot may encounter unexpected situations and may not execute its planned actions any more. Therefore, an intelligent autonomous robot must prepare an efficient handling process to cope with these situations to successfully complete a given mission. Plan repair with milestone states is an efficient method to cope with the situation. It retains the advantages of other plan repair procedures. This paper proposes a regressive method of formulating milestone states and a method of assigning weighting values on conditions that compose a milestone state. The task to repair a plan may employ the weighting values as its job priority. The regressive method formulates less complex milestone states and leads to the conditions of a milestone state to take pertinent weighting values for an efficient handling procedure to repair a plan with milestone states.