• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.618-623
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• 1992

In this paper robotic manipulators in which the joints exhibit a certain amount of elasticity are considered. Based on a feedback linearized model, sliding mode control system is designed. In the control system design, weak joint stiffness assumption does not needed. Simulation results are presented to verify the validity of the control scheme. A robustness analysis for a feedback linearized model is also given with respect to uncertainties on the robot parameters.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.974-979
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• 1990

The system discussed in this paper is an integrated stand-alone system with the full functional capabilities required of a telerobot system. It is complete with a force-reflecting 6-DOF hand controller, driving a PUMA 560 or 762 robot, with an integrated force-torque sensing wrist sensor and servo-driven parallel jaw gripper. A mix of custom and standard electronics, distributed computers and microprocessors, with embedded and downloadable software, have been integrated into the system, giving rise to a powerful and flexible teleautonomous control system.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.5-8
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• 1986

The simulation algorithm for all kinds of robots with arbitrary degrees of freedom which are combined with revolute joints or prismatic joints, or combinations was studied and implemented. This simulation package is composed of trajectory planning routine, control routine, kinematics routine using Newton-Raphson method, dynamics based on Newton-Euler method with four-bar linkage analysis, input routine and output routine.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.586-591
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• 1986

In this paper, we designed simultaneous 2-axis control system using commercialized custom ICs for positioning and interpolation that is very compact and high reliable. This system is primarily designed for NC system, we verified it is more complete than the other hardware & software based system in its function, control accuracy and cost. Also, this system can be expanded for multi-axis control, it can be applied to the control of more complicated mechanism such as articulated robot.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.300-300
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• 2000

Reduced life-cycle and scale of electronic products make the conventional automated manufacturing system difficult to keep on competitiveness in these days. Reduced life-cycle requires an agile adaptation of manufacturing to new products and reduced scale requires enhanced precision as well as high speed. In this research, We propose a new concept called as "One-Cell Minifactory" in which various processes are combined to produce final modules or products and human interaction can be combined easily. We hope the proposed concept can guide new developments of automated manufacturing in electronics, optics and bio-engineering.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.13-17
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• 1990

In this paper we propose the force controller using a neural network for a redundant manipulator. Jacobian transpose matrix of a redundant manipulator constructed by a neural network is trained by using a feedback torque as an error signal. If the neural network is sufficiently trained well, the kinematic inaccuracy of a manipulator is automatically compensated. The effectiveness of the proposed controller is demonstrated by computer simulation using a three-link planar robot.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.252-257
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• 1990

For the position control of BL-DC motors, 2.phi.-3.phi. conversion unit, hysteresis band device, and PWM pulse generation are required. By utilizing a single-chip processor INTEL 8097BH, we cover all required functions. As a result, no analogue device is employed in this control scheme, so that it makes BL-DC motor controller simple and flexible. Furthermore, the single-chip processor is utilized for the nonlinear coordinate transformation which is necessary for the linearization of the motor system.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.497-501
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• 1990

본 논문에서는 다중로보트의 제어를 위하여 비젼 센서 등 여러 가지 센서신호를 처리할 수 있고 로봇의 충돌회피 및 협조제어를 할 수 있는 제어시스템을 개발하였다. 본 제어장치는 시스템 전체를 관리하며 언어 및 로보트 동작의 교시 그리고 자기진단 등의 기능을 하는 Supervisory Processor, vision에 대한 정보를 담당하는 로보트 제어 processor 등 여러개의 프로세서로 나누어 분산처리 구조를 갖도록 하여 확장성 및 유연성이 높은 시스템이 되도록 하였다. 실험적으로 본 시스템을 이용하여 로보트로 하여금 puzzle을 맞추는 작업을 수행시킴으로써 본 시스템의 우수성을 입증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.755-760
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• 1990

In this paper, the Mini-MAP network interface units are implemented for the IBM PC, general purpose, PLC, and robot respectively. The token bus controller, MC68824 is used to realize the IEEE 802.4. A protocol for the message exchanges between some automated devices called MMS is implemented where 76 services of total 86 MMS services are included.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.394-399
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• 1990

We develop an automatic trajectory planning system (ATPS) for painting robots by proposing a new trajectory planning scheme. The new scheme considers geometric modeling, painting mechanics, and robot dynamics to output an optimal trajectory (in the sense of coating thickness and painting time) based on the CAD data describing the shape of objects, The new scheme is implemented in SUN/4 workstation to develop an ATPS for painting robots. To test the validity of the new scheme and to illustrate the developed system, numerous runs are performed and analyzed.