• Journal of the Korean Society of Manufacturing Process Engineers
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• v.16 no.4
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• pp.113-118
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• 2017

As the demand for industrial robots and Automated Guided Vehicles (AGVs) increases, higher performance is also required from them. Fuzzy controllers, as part of an intelligent control system, are a direct control method that leverages human knowledge and experience to easily control highly nonlinear, uncertain, and complex systems. This paper uses a $LabVIEW^{(R)}-based$ fuzzy controller with gain scheduling to demonstrate better performance than one could obtain with a fuzzy controller alone. First, the work area was set based on forward kinematics and inverse kinematics programs. Next, $LabVIEW^{(R)}$ was used to configure the fuzzy controller and perform the gain scheduling. Finally, the proposed fuzzy gain scheduling controller was compared with to controllers without gain scheduling.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.524-527
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• 2002

This paper is on the development of an educational 6-axis articulated manipulator using 4-bar linkage system. Especially, the 2$^{nd}$ and the 3$^{rd}$ axes need large torque to control the movement of an end-effect. However, small motors (RC-servo, DC-gear, stepping meters) are used for the 4-bar linkage. In addition the manipulator can be operated by a switch and also motion can be realized automatically, based on C-language coded users programs..

• Transactions of the Korean Society of Machine Tool Engineers
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• v.13 no.3
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• pp.113-118
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• 2004

In this paper, we propose a new weaving trajectory algorithm for the arc welding of a articulated manipulator. The algorithm uses the theory of Bezier spline. We make a comparison between the conventional algorithms using Catmull-Rom curve and the new algorithms using Bezier spline. The proposed algorithm has been evaluated based on the MATLAB environment in order to illustrate its good performance. Through simulations, the proposed algorithm can result in high-speed and flexible weaving trajectory planning so that it's trajectory cannot penetrate into a base metal compared to the conventional algorithm using Catmull-Rom curve.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.11
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• pp.1809-1818
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• 1997

Mathematical models of industrial robots or manipulators are highly nonlinear equations with nonlinear coupling between the variables of motion. As the working speed has been fast, the effects of nonlinear terms have become serious. So the control algorithm based on approximately linearized equation looses the efficiency. In order to design the control law for the nonlinear models, Hunt-Su's nonlinear transformation method and Marino's feedback equivalence condition are used with linear quadratic regulator(LQR) theory in this study. Nonlinear terms of the system are eliminated and coupled terms are decoupled by this feedback law. This method is applied to a 3-D.O.F. vertical articulated manipulator by both experiments and simulations and compared with PID control which is widely used in the industry.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 1998.03a
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• pp.125-128
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• 1998

다양한 산업분야의 생산공장에서 주로 활용되고 있는 6축 수직다관절보트은 대부분 단순반복운동을 하고 있다. 단순반복중 point-to-point제어보다 품질을 요하는 tracking -to-trajectory제어를 위한 분산학습제어에 대하여 연구하고자 한다. 관련 학습제어기법으로는 선형누적기법과 간접적응기법이 있다. 두 기법의 차이는 시스템의 정보의 유무이며 시스템의 주어진상황에 따라 두 기법중 하나를 선택할 수 있다. 간접적응형 기법은 zero tracking error를 보장받기 위해서 보다 많은 반복을 요하는 경비를 부담하여야 한다.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.16 no.6
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• pp.55-62
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• 2017

This paper aims to realize additional axes, which increase the processing efficiency of a robot by controlling in harmful environments. Ultimately, this is to create time and energy savings in industrial sites with 6-axis articulated welding robots (RS2). Using $RecurDyn^{(R)}$ a simulation technique is applied. The motion paths of the welding rod are compared for two cases in order to verify the necessity of the additional axes: 1) when there are no additional axes and 2) when there are additional axes during welding using the RS2. For this purpose, the angle variations of the RS2 axes required for the simulation are compared, on the assumption that each of the four points of the welding bed installed on the additional axes of the welding rod in $Solidworks^{(R)}$ is point-welded. Then, actual additional axes equipment is grafted on to the RS2 and the process times compared using $LabVIEW^{(R)}$.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1760-1763
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• 2003

In this paper, we propose a new weaving trajectory algorithm for the are welding of a articulated manipulator. The algorithm uses the theory of Bezier spline. We make a comparison between the conventional algorithms using Catmull-Rom curve and the new algorithms rising Bezier spline. The proposed algorithm has been evaluated based on the MATLAB environment in order to illustrate its good performance. The algorithm has been implemented on to the industrial manipulator of DR6 so as to show its real possibility. Through simulations and real implementations, the proposed algorithm can result in high-speed and flexible weaving trajectory planning and can reduce the processing time because it needs one-half calculation compared to the conventional algorithm using Catmull-Rom curve.

• Proceedings of the Korea Information Processing Society Conference
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• 2021.05a
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• pp.529-532
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• 2021

본 논문은 서비스 로봇 분야에서 역할을 수행하는 ROS 및 딥러닝 기반 모듈형 6자유도 매니퓰레이터의 설계 방법 및 성능 개선 결과를 제시한다. 기구적 설계, 모터 선정, 역 기구학 해석 방법 및 지능적 제어 방법에 대한 개선점과 향후 연구과제에 대해 다루었다. 특히 고정된 작업 반경 안에 있는 물체를 검출하고 이동시키는 방법을 딥러닝학습에 의해 정확도를 증가시키며, 임의의 위치에 존재하는 다양한 작업환경에서도 성공적인 작업수행이 가능하도록 수직 다관절 모듈형 매니퓰레이터를 설계하고 주요 성능을 검증하였으며 사용자의 사용 목적에 맞게 다양한 환경에서의 임무 수행이 가능하도록 설계하였다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1993.10a
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• pp.545-549
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• 1993

This paper presents the method of calibrating and compensating for the kinematic errors in robot manipulators. A calibration model is developed to represent any geometric errors in the manipulator's structure. A calibration jig is used to find the values of these kinematic errors in the end-effector's position and a calibration algormined for a SSR-6 robot manipulator developed by Samsung Heavy Industry, Daeduk R & D Center. Through this experiment the maximun kinematic error is reduced from 10mm to 0.4mm

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.20 no.6
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• pp.778-784
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• 2011

This paper presents the study on orientations interpolation of 6-axis articulated robot using quaternion. In this paper, we propose a control algorithm between given two orientations of 6-axis articulated robot by using a quaternion with spherical linear interpolation. In order to study the quaternion interpolation, We created Inverse kinematics program and Interpolation program using LabVIE$^{(R)}$. The rotation angle of each axis were calculated using both euler orientations interpolation program and quaternion orientations interpolation program. The proposed control algorithm is shown to be effective in terms of motor angles and torques when compared to a conventional Euler angle interpolation, by using both LabVIEW$^{(R)}$ and RecurDyn$^{(R)}$.