• 한국산업융합학회 논문집
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• 제18권3호
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• pp.157-166
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• 2015

In this paper, we proposed a new robust control scheme to implement stable control of robot manipulators including nonlinear perameters The proposed robust controller is composed of a nonlinear controller and linear compemsation controller. It shows a good robust performance in reaching mode which does not possess invariance property. Thus, the proposed nonlinear controller showed a good robust performance in the whole region, It was illustrated that the proposed control showed a good transient response and trajectory tracking performance for robot manipulator with four joint by experiments.

• 유공압시스템학회논문집
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• 제1권1호
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• pp.23-30
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• 2004

This paper deals with the issue of trajectory tracking control of a hydraulic excavator using disturbance observer in order to compensate external disturbances occuring from coupling between attachment, asymmetry of a single rod cylinder, and deadzone of main control valve. Disturbance compensation control system with disturbance observer has been constructed for the boom and arm respectively. Simulation results were compared with experimental results to validate the computer simulation system of hydraulic excavator itself. Computer simulation shows that disturbance compensation control is effective for compensating system nonlinearity and thus improves positioning accuracy and trajectory tracking performance. Steady state error has been decreased by adding PI controller to this control scheme.

• 한국자동차공학회논문집
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• 제2권4호
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• pp.50-58
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• 1994

To examine the residual stress field resulting from stamping process for the lower control arm of a car, the explicit finite element analysis is performed for the stamping process by way of the ABAQUS Explicit. The residual stress is obtained in terms of the Von Mises stress and other parameters such as equivalent plastic strain, the change of blank thickness, the final configuration of the blank and the spring back effect are also considered. Moreover, discussed is the convergence of the explicit FEM versus the punch sped and the element discretization

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 추계학술대회 논문집
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• pp.241-249
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• 2002

In this paper, a self-organizing fuzzy controller(SOFC) for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy login composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis of a FLC, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult SOFC is proposed for a hierarchical control structure consisting of basic level and high level that modify control rules. The proposed SOFC scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for robot with tow joints.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2018년도 춘계학술대회
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• pp.225-227
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• 2018

항만 배후단지는 항만과의 연계된 네트워크로 점점 중요해지는 가운데 다국적으로 앞 다투어 고부가 가치 창출을 위한 다양한 법과 제도를 마련하고 있다. 유럽, 아시아, 북미 등 여러 국가에서 배후단지 활성화를 위한 투자와 발전을 위해 노력하고 있으며 이에 한국도 제3차 항만배후단지개발 종합계획을 통해 단계적 변화의 움직임을 보여주고 있다. 따라서 본 논문에서는 DEA(Data envelopment analysis)와 Malmquist 분석을 통해 한국의 주요 항만배후단지의 생산성과 효율성을 파악하였다. 분석결과 부산 신항 북컨, 광양항 서측배후단지는 효율성이 높고 부산 신항 운동, 광양 동측 배후단지 및 아암 1단지는 효율성이 낮게 나타났다. 연구 분석을 통해 향후 항만 배후단지의 경영 환경 및 수익성이 개선되어야한다는 점을 시사한다.

• Journal of Biosystems Engineering
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• 제25권5호
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• pp.399-408
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• 2000

This study is final focused on developing fruit harvesting robot can distinguish fruit type and status accurately. Multi-joint robot is able to discriminate tree shape and select mature fruit by image processing. The multi-joint robot consists of (a) rotating base, (b)turning first joint-arm, (c)rotating and turning second joint-arm, (d)rotating and turning third joint-arm, (e)rotating and turning last joint and (f)picker hand. The operational ranges of the robot are: horizontal 860~2,220mm, vertical 1,440~2,260mm, 270 degrees’rotation angle, 90 or 270 degrees’turning angle. The robot weighs 330kg. The multi-joint robot was designed in high accuracy and efficiency by getting as close as the movements of human arms and waist.

• 한국산업융합학회 논문집
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• 제24권3호
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• pp.351-361
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• 2021

This study proposes an intelligent control of manufacturing robot with dual arm based on neural network for smart factory implementation. In the control method of robot system, the perspectron structure of single layer based on neural network is useful for simple computation. However, the limitations of computation are emerging in areas that require complex computations. To overcome limitation of complex parameters computation a new intelligent control technology is proposed in this study. The performance is illustrated by simulation and experiments for manufacturing robot dual arm robot with eight axes.

• 한국항해항만학회지
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• 제34권3호
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• pp.229-234
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• 2010

본 연구는 인천항 배후단지를 운영함에 있어 취급되는 품목 중 어떠한 품목이 항만 배후단지 운영에 기여하는지를 선정하고 그에 따른 시사점을 제공하는 것을 연구의 목적으로 하였으며, 대상은 아암물류1단지와 4부두 배후지로 선정하였다. 연구의 방법으로 요인분석 및 AHP 분석을 사용하였다. 선행연구를 통하여 물동량 창출가능성을 비롯한 총 11가지의 하위평가요인을 선정하였고, 요인분석을 통해 효율적인 관리를 포함한 총 4가지의 상위평가요인들이 그룹핑 되었다 AHP분석을 통해 하위평가요인들의 우선순위를 산정한 결과 물동량 창출 가능성 측면이 배후단지 운영시 가장 중요한 요인으로 선정되었다. 그리고 수출입액과 수출입 중량을 기준으로 농산물, 철강/비철금속, 전자부품을 평가 품목대안으로 선정하고 분석을 실시한 결과, 전자부품이 인천항 배후단지에서 취급중인 화물 중 운영적으로 가장 많은 기여를 하는 것으로 나타났다. 따라서 전자부품과 같은 물동량 증가 가능성이 많은 화물에 대한 전략적인 관리가 필요하며 본 연구가 향후 개장될 인천항 아암물류2단지와 인천신항 배후단지의 유치품목 선정에 있어 중요한 지표로 사용될 수 있을 것이라 판단된다.

• 제어로봇시스템학회논문지
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• 제10권12호
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• pp.1223-1232
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• 2004

We present a new technique to the design and real-time implementation of fuzzy control system basedon digital signal processors in order to improve the precision and robustness for system of industrial robot in this paper. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The TMS320C80 is used in implementing real time fuzzy control to provide an enhanced motion control for robot manipulators. In this paper, a Self-Organizing Fuzzy Controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variables of the controller. In the synthesis of a Fuzzy Logic Controller, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult Self-Organizing Fuzzy Controller is proposed for a hierarchical control structure consisting of basic and high levels that modify control rules. The proposed Self-Organizing Fuzzy Controller scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for a Dual-Arm robot with eight joints.

• 한국산업융합학회 논문집
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• 제19권1호
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• pp.18-30
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• 2016

In this paper, we propose a new technique to the design and real-time control of an adaptive controller for robotic manipulator based on digital signal processors. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved Lyapunov second method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot manipulator with eight joints. joint space and cartesian space.