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

• Journal of the Korean Society for Precision Engineering
• /
• v.16 no.4 s.97
• /
• pp.116-121
• /
• 1999

At the exit stage of drilling, the burr generates and deburring process is required to remove it. Since the additional process reduces productivity, a burr minimization technique is necessary in the servo system of drilling machines. In this research, cutting force is modelled with tool geometry and the optimal velocity profile with which the desired cutting force maintains is generated to minimize burr. Experiments show that the proposed velocity profile tracking effectively minimizes burr compared to the constant velocity feed.

• Journal of the Korean Society of Industry Convergence
• /
• v.11 no.3
• /
• pp.135-140
• /
• 2008

This paper researched about Development Cutting Tool User Defined Module Based(PMCUDMS) on Simulation that was able to adapt themselves to rapid development of software and hardware to adopt. It is basic research that develops a scheme whereby technic make property. This paper theorized about to realize Cutting Tool User Defined Module Based on Simulation which is developing CNC Software flows from building Windows XP operating system's image that is possible realtime acting and multitasking to correct. And Cutting Tool User Defined Module Based on Simulation component which was consisted of basis OS, NC Code parser, Servo Motor Control, Simulator, Man-Machine Interface.

• 정보저장시스템학회:학술대회논문집
• /
• 2005.10a
• /
• pp.2-3
• /
• 2005

Air gap control method using a conventional actuator for near field recording technology has been reported. To achieve good performance in the air gap servo and further experiments, the assembling between OL and SIL is the critical procedure. A lens set with NA 1.45 at 405 m has been assembled and tested by using a Twyman-Green interferometer. The tolerance of assembling is very tight and the designing and adjusting procedure must be carefully controlled.

• Proceedings of the KIEE Conference
• /
• 2002.07d
• /
• pp.2433-2435
• /
• 2002

The purpose of this paper is to introduce a case study of developing a miniature biped robot. The biped robot has a total of twenty-one degrees of freedom(DOF) ; There are two legs which have six DOF each, two arms which have three DOF each and a waist which has three DOF. RC servo-motors were used as actuators. We have developed motor controller, sensor controller and ISA-interface card. Motor controller, PWM generator, can control eight motors Sensor controller is connected to eight FSR(Force Sensing Resistors). For high level controller communicate with low level controller, ISA-interface card has developed. For the stable walking, CMAC(Cerebellar Model Articulation Controller) neural network algorithm is applied to our system CMAC is robust at noise.

• Proceedings of the KIEE Conference
• /
• 1998.07b
• /
• pp.417-419
• /
• 1998

In a large diesel engine actuator position servo system, it is impossible to isolate an actuator fault from a load torque with conventional fault detection isolation (FDI) schemes because they are propagated through a channel. This paper deals with a parity equation based residual generation to isolate them in the system. The actuator fault is modelled by a multiplicative type fault that can be characterized as discrepancies between the nominal and actual plant parameters, whereas the load torque is modelled by an additive disturbance. The transformation implemented in the residual generator should be determined on-line to achieve the isolation. Simulation studies show the practical applicability of the FDI scheme.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 1997.11a
• /
• pp.63-66
• /
• 1997

The rule bases self organizing controller(SOC) has one of its main advantages in the fact that there is no need to have a mathematical description of the system to be controlled. In this controller, the rules are linguistics statements expressed mathematically through the concepts of fuzzy sets and correspond to the actions a human operator would take when controlling a given process. With this controller, we have performed to sight stabilization system, and we realize that it needs a scale factor tuning. The self tuning controller(STC) uses an instantaneous system fuzzy performance which can give an inspection to the scale factor. Therefore, the STC can compensate the scale factor when it is not adequately tuned. With this trial, we shows that STC can give a good transient characteristics in the nonlinearity which imposed basically in the conventional servo system.

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.25 no.2
• /
• pp.152-161
• /
• 1988

In this paper, a direct method for obtaining the trajectory set points is investigated in discrete-time, which is different from the other conventional schemes. We consider the tracking of a straight line path, where the trajectory set points for manipulator control are determined exactly on the straight line path. For the purpose of the munimum-time operation of manipulators, the problem is formulated as a maximization of the Cartesian distance between two consecutive servo time instants. The maximization is subject to the smoothness and torque constraints. Several algorithms are developed and utilized to maximize the Cartesian distance. The proposed approach has been simulated on a VAX-11/780 computer to verify its performance.

• Journal of the Optical Society of Korea
• /
• v.9 no.2
• /
• pp.49-53
• /
• 2005

We report a new configuration of a reflection-type confocal scanning optical microscope system for measuring the refractive index profile of an optical waveguide. Several improvements on the earlier design are proposed; a light emitting diode (LED) at 650 nm wavelength instead of a laser diode (LD) or He-Ne laser is used as a light source for better index precision, and a simple longitudinal linear scanning and curve fitting techniques are adapted instead of a servo control for maintaining an optical confocal arrangement. We have obtained spatial resolution of 700 nm and an index precision of $2\times10^{-4}$. To verify the system's capability, the refractive index profiles of a conventional multimode fiber and a home-made four-mode fiber were examined with our proposed measurement method.

• Proceedings of the Korean Society of Computer Information Conference
• /
• 2010.07a
• /
• pp.59-62
• /
• 2010

로봇모터제어에 사용되는 서보전동기의 센서리스 운전에 대한 초기의 연구에서는 전동기의 전압과 전류를 측정하여 전동기 모델로부터 속도를 연산하는 방식을 취해왔으나, 근래에는 현대제어 이론 중 관측기 이론을 적용하여 속도 추정 및 센서리스 운전을 위한 다양한 연구가 시도되고 있다. 본 논문에서 설계한 슬라이딩형 퍼지 관측기의 속도추정 성능을 검증하기 위해 먼저 슬라이딩 관측기를 이용하여 전기자 전류의 도함수를 추정하고 속도관측기인 Luenberger 관측기의 이득을 퍼지 제어 기법을 이용하여 관측기 이득을 최적 값으로 선정하고 이것을 이용하여 직류 서보 전동기의 속도제어에 적용하였다.