• Proceedings of the Korea Information Processing Society Conference
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• 2015.10a
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• pp.952-955
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• 2015

본 연구는 현재 스마트폰 모델을 조립하는 공정에서 카메라 렌즈 부품을 조립하는 수동으로 팔레트 위에 위치한 부품의 좌표를 수동으로 입력하고 검증하는 과정으로 소형 델타로봇에 스마트 액추에이터와 초소형 비전 카메라를 장착하여 렌즈부품의 위치좌표를 자동으로 검출하고, 빠르고 정확하게 타겟팅된 위치로 이동시킬 수 있는 자동타게팅 델타로봇 시스템을 개발하는 것이다.

• The Journal of the Korea institute of electronic communication sciences
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• v.15 no.2
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• pp.273-284
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• 2020

This paper proposes a method of designing and controlling delta robots with low-cost DC motors, which are widely used in the automation process. Simulation was performed by interpreting the mechanics and dynamics of the delta robot, and based on this analysis, low-cost DC motor was selected. Experiments were conducted to obtain characteristic values of motors and the current-position cascade control system was designed and implemented. In order to verify the feasibility of the proposed system, the experiment to check that the end-effector of the delta robot follows the target path was progressed. Through the experiment, the limitations of using low-cost motors were overcome by designing compensation algorithms and the performance of the position control was verified.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.17 no.3
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• pp.155-162
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• 2018

Delta robots are usually used for industrial manufacturing, but heavy weight and expensive price have been obstacles to rapid propagation of robots in the field. The goal of this research is to make light-weight and price-competitive delta robots. To reduce the weight, we used plastic material for the arm link, and to reduce the price, we used a step-motor as the main actuator. First we formulated the equations of inverse kinematics for the designed delta robot and then verified these equations by using multibody-dynamics simulation. An algorithm of motion control was developed and applied to the motion-processing unit using a timer-interrupt of 8 milliseconds. Finally, we tested the performance of the new delta robot by checking its control of motion along line segments.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.912-916
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• 1992

In this paper we investigate the connection between the continuous-time FIR(finite impulse response) filter and the corresponding discrtet-time FIR filter with fast sampling. The interconnection is established by formulating the discrete-time case using delta operators which has superior numerical properties in discretizing prcedure. The aim of this paper is to present a unified FIR filter using the .delta.-operator and to show that, as sampling interval .DELYA. aperator to zero, the results of this filter converge to the corresponding continuous-time reuslts, which implies that the unified FIR filter unifies continous-time FIR filter and discrtet-time FIR filter.

• Journal of the Korean Society of Industry Convergence
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• v.26 no.1
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• pp.15-26
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• 2023

In this study, an end-effector robot which is a two-axis delta robot type for upper-limb rehabilitation is designed. It is not only rehabilitation functions that has designed robot but also mechanical and electrical safety devices were constructed to ensure patient safety. By constructing the two-axis delta robot is combined with an LM guide, the operating range and rigidity required for rehabilitation were secured. The electrical safety system which is required for the medical robot was designed, and a safety strategy was established to ensure patient safety and it is applied in the integrated safety circuit. The safety is considered in whole design process from the robot's mechanical design to the electric control unit.