• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.2
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• pp.318-323
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• 2013

For fast and accurate motion of 6-axis articulated robot, more noble motion control strategy is needed. In general, the movement strategy of industrial robots can be divided into two kinds, PTP (Point to Point) and CP (Continuous Path). Recently, industrial robots which should be co-worked with machine tools are increasingly needed for performing various jobs, as well as simple handling or welding. Therefore, in order to cope with high-speed handling of the cooperation of industrial robots with machine tools or other devices, CP should be implemented so as to reduce vibration and noise, as well as decreasing operation time. This paper will realize CP motion (especially joint-linear) blending in 3-dimensional space for a 6-axis articulated (lab-manufactured) robot (called as "RS2") by using LabVIEW$^{(R)}$ (6) programming, based on a parametric interpolation. Another small contribution of this paper is the proposal of motion blending simulation technique based on Recurdyn$^{(R)}$ V7 and Solidworks$^{(R)}$, in order to figure out whether the joint-linear blending motion can generate the stable motion of robot in the sense of velocity magnitude at the end-effector of robot or not. In order to evaluate the performance of joint-linear motion blending, simple PTP (i.e., linear-linear) is also physically implemented on RS2. The implementation results of joint-linear motion blending and PTP are compared in terms of vibration magnitude and travel time by using the vibration testing equipment of Medallion of Zonic$^{(R)}$. It can be confirmed verified that the vibration peak of joint-linear motion blending has been reduced to 1/10, compared to that of PTP.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.659-664
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• 1994

In this paper we deal with a synthesis of flight control system via nonlinear model matching theory. First, the longitudinal and lateral-directional equations of aircraft motion an CCV mode are considered except the assumption "variations on steady straight flight due to disturbances are very small". Next, a design method of the dynamic model matching control system based on Hirschorn's Algorithm is proposed to the above nonlinear system. Finally, the proposed control system is applied to the small sized, high speed aircraft, T-2 on CCV mode and numerical simulations are shown to justify the proposed scheme.ed scheme.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1998.10a
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• pp.153-158
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• 1998

In this paper, we present a design of optimal 2-DOF PID controller for control of gantry crane which has to control swing motion and trolley position. For tuning the parameter of 2-DOF PID controller, we used evolution strategy(ES). During operate the crane system in yard, the goal is transporting the load to a goal position as quick as possible without rope oscillation. The crane is generally operated by an expert operator, but recently an automatic control system with high speed and rapid transportation is required. However, we developed an optimal controller which has to control the crane system with disturbance.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.109.1-109
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• 2002

This paper presents a macro/micro flip chip mounting head system for precise force control. In the proposed macro/ micro system, the macro actuator is conventional do servomotor with a ball screw mechanism and the micro actuator is a voice coil motor(VCM) that consists of four NdFeB magnets and a winded moving coil. For force control, a sensitive strain-gauge force sensor is mounted in the micro actuator. Through harmonic motion between macro and micro actuator, we would like to get precise contact force control when small sized flip chip is mounted on flexible substrate in high speed. In order to show the effectiveness of the proposed macro/micro flip chip mounting head system, we com...

• Journal of Korean Port Research
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• v.12 no.2
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• pp.217-224
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• 1998

During the operation of crane system in container yard, the objective is to transport the load to a goal position as quick as possible without rope oscillation. The container crane is generally operated by an expert operator, but recently an automatic control system with high speed and rapid transportation is required. Therefore, we developed an optimal controller which has to control the crane system with disturbances. In this paper, we present a design of optima 2-DOF PID controller for the control of gantry crane which has to control swing motion and trolley position. We used evolution strategy(ES) to tune the parameters of 2-DOF PID controller. It was compared with general PID controller. The computer simulations show that the proposed method has better performances than the other method.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.55 no.1
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• pp.1-8
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• 2006

Now a day, owing to high efficiency and easy speed control of brushless DC(BLDC) motor, the demand of BLDC motor that has high power and low noises are increasing. Especially demand of interior permanent magnet(IPM) BLOC with high efficiency and high power in electric motion vehicle is increasing. IPM BLDC motor has permanent magnets in the rotor. Because it has two different flux paths, magnetic reluctance differences are generated in d-axis and q-axis. As the result of the inductance differences that are generated by the saliency(magnetic reluctance differences) in the rotor, the motor has structure advantage that has the additional reluctance torque except a magnet torque and because magnet is situated inside the rotor, the mechanical structure is strong. Therefore IPM BLDC motor makes possible to have high speed and high power. This paper presents a design and characteristics analysis of IPM BLDC motor for electric vehicle. To design IPM BLDC motor, surface mounted permanent magnet(SPM) BLDC motor is used as the initial design model. According to the shape-ratio() of permanent magnet, the characteristic of IPM BLDC motor is analyzed by Finite element method (FEM). Characteristics analysis results of the designed motor are compared with the experimental results.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.759-763
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• 1996

This paper presents a new approach to the design of neural control system using digital signal processors in order to improve the precision and robustness. Robotic manipulators have become increasingly important in the field of flexible automation. High speed and high-precision trajectory tracking are indispensable capabilities for their versatile application. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The TMS320C31 is used in implementing real time neural control to provide an enhanced motion control for robotic manipulators. In this control scheme, the networks introduced are neural nets with dynamic neurons, whose dynamics are distributed over all the network nodes. The nets are trained by the distributed dynamic back propagation algorithm. The proposed neural network control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the neural controller is illustrated by simulation and experimental results for a SCARA robot.

• Journal of Broadcast Engineering
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• v.2 no.1
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• pp.8-15
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• 1997

In this paper, a real-time operating Motion Picture Experts Group-1 (MPEG-1) audio encoder system is implemented using a TMS320C31 Digital Signal Processor (DSP) chip. The basic operation of the MPEG-1 audio encoder algorithm based on audio layer-2 and psychoacoustic model-1 is first verified by C-language. It is then realized using the Texas Instruments (Tl) assembly in order to reduce the overall execution time. Finally, the actual BSP circuit board for the encoder system is designed and implemented. In the system, the side-modules such as the analog-to-digital converter (ADC) control, the input/output (I/O) control, the bit-stream transmission from the DSP board to the PC and so on, are utilized with a field programmable gate array (FPGA) using very high speed hardware description language (VHDL) codes. The complete encoder system is able to process the stereo audio signal in real-time at the sampling frequency 48 kHz, and produces the encoded bit-stream with the bit-rate 192 kbps. The real-time operation capability of the encoder system and the good quality of the decoded sound are also confirmed using various types of actual stereo audio signals.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.794-797
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• 2001

The basic design of today s rolling linear guides with rails is outlined in a French patent from 1932, it was not until the early 1970s that linear guides were commercialized. Progress with the numerical control of machine tools led to higher speed and accuracy of machines that exposed limitations of conventional sliding guides in terms of durability and response capability. As a result, rolling guides, having better high-speed performance and greater compatibility with electronics, began to be used widely. This paper examined theoretically and experimentally the influence of rail bolt tightening on the motion accuracy of linear guides. The rail of a linear guide is tightened and fixed to the base component by bolts. Naturally, the rail is an elastic body and the compression force generated by tightening the volts causes its deflection. Compromising motion accuracy, the rail deforms wavily in a longitudinal direction corresponding to the bolt pitch. The relation between rail position and deflection(sinking) amount caused by bolt tightening was analyzed through FEM analysis in this paper.

• Journal of Biosystems Engineering
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• v.30 no.3 s.110
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• pp.179-184
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• 2005

The purpose of this study was the development of teat-cup attachment module for robot milking system. The teat-cups attachment module was controlled on the two dimensional space independently, Each teat cup of an end effector was independently controlled via two axis control based on the position information data obtained from the image processing system. This system was developed install of all 4 teat cups at the same time after adjusting positions of each teat sequentially. The individual motion system was operated using two servo motors for the high speed of teat position adjustment. The errors fur the individual motion system of teat cups were maximum 1.0mm, minimum 0.0mm, and average 0.6mm. The operating time for adjusting the teat cups position required about 1.0 second. It is envisaged that teat cups attachment module can be applicate to milking robot being developed in consideration of the experiment results for the teat cups operation accuracy and the actuation speed of servo motors.