• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.999-1005
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• 1988

An iterative learning control scheme is presented with the aid of CMAC module. By enforcing the role of linear controller with the introduction of velocity feedback, it becomes possible to make the trajectory error equation stable. One advantage of this control scheme is that it does not require acceleration feedback. Computer simulation results shows a good performance of the scheme even in the case where the gravity is not compensated.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.528-532
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• 1991

Having very small linear displacement, piezoelectric actuators have been restricted in robotic application as positioning devices. In this paper, a mechanical amplifier was developed to enhance the displacement of piezoelectric actuator and the corresponding driving circuit was designed. This equipment was integrated as a robotic wrist having 2 D.O.F micropositioning capability. Each joint was analysed in mechanical and dynamic view points. Experimental result showed that this device has Some hysteresis but could be used as vibratory robotic wrist with relatively high frequency. For more fine positioning control, a closed loop approach must be taken into account.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.1057-1062
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• 1991

Recently, due to the development of new technology and products, FA has been accelerating for obtaining high-quality and saving of resources and power. Introduction of automation to the field which has bad working condition is needed and welding is one of these field. In this study, solving algorithm for down hand control which requires in the automatic are welding system is proposed. For the verification of the algorithm, numerical examples are shown and visualization is carried out using developed graphic tools.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.174-178
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• 1991

In this paper, we present a unified approach for the control of manipulator motions and active forces based on the operational space formulation. The end-effector dynamic model is used in the development of a control system in which the generalized operational space end-effector forces are selected as the command vector. A "generalized position and force specification matrix" is used for the specification of space of motions and forces in which manipulator is to be controlled. Flexibility in the force sensor, end-effector, and environment are discussed.discussed.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.45-49
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• 1988

This paper presents a centralized adaptive control scheme based on perturbation equations in the vicinity of a desired trajectory,which are used to design a feedback control about the desired trajectory. This adaptive control scheme reduces the manipulator control problem from a nonlinear control to controlling a linear control system about a desried trajectory. Computer simulation studies of a two-joint manipulator are performed on a IBM-PC to illustrate the performance of this adaptive control scheme.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.50-53
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• 1988

This paper presents an approach to the position control of a robot manipulator by using a self-tuning pole-placement controller with an inverse model. The linearized independent difference equations of manipulator motion are obtained, and the parameters of these models are estimated on line. The controller is composed of two parts, the primary controller obtains desired torques by using an inverse model and the secondary controller computes variational torques on the basis of induced perturbation equations by minimizing a quadratic criterion with a closed-loop pole-placement. Simulation is performed to demonstrate the effectiveness of this approach.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.72-75
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• 1988

Due to the fact that the set point regulation scheme by the variable structure control method concerns only the initial and final locations of a manipulator, many constraints may exist in the application of path tracking with obstracle avoidance. The variable structure parameter should be selected in the trajectory planning step by satisfying the constraints of the travel time and the path deviations This paper presents the selection algorithm of the variable structure parameters with the constraints of the system dynamics and the travel time and the path deviation. This study makes unify the trajectory planning and tracking control using the variable structure control method.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.92-97
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• 1988

The path planning is done at the joint level. Cubic spline functions are used for constructing joint trajectories for industrial robots. For N-joint robot, Cartesian knots are transformed into N sets of joint displacements, with one set for each joint. For industrial application the speed of operation affects the productivity. An algorithm is developed to schedule the time intervals between each pair of adjacent knots such that the total traveling time is minimized subject to the physical constraints on joint velocties acceleration and jerks.

• Proceedings of the Korea Contents Association Conference
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• 2010.05a
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• pp.459-462
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• 2010

E-Leaning 시스템에 필요한 LMS(Learning Management Systems)의 구축과 강의 제작은 일반 교육자들이 쉽게 접근할 수 없는 고급 기술 및 고비용을 필요로 한다. 따라서 일반 교육자들에게는 e-러닝 시스템의 이용이 용이하지 않은 실정이다. e-러닝 시장의 확대 및 교육 콘텐츠의 다양화를 위하여 일반 교육자들이 손쉽게 접근 및 이용이 가능한 오픈형 e-러닝 시스템의 구축 방법론을 개발하였다.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1998.03a
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• pp.274-280
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• 1998

The welding technology and qualities are developed significantly, in recent years, in the use of automated processing technology and welding robot systems. But these automated welding technologies have many difficulties for finding the optimal welding parameter conditions. Because of the lack of mathematical model for determination of optimal welding process parameters. In this study, the sensitivity analysis of the empirical equations for finding weld bead width, height and penetration depth by using the published formulae. The selected major welding process parameters effected to weld bead geometries are the welding speed, current, voltage and weld wire diameter.