• 방사성폐기물학회지
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• 제10권2호
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• pp.87-96
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• 2012

원자력시설 유지보수 및 해체시 다관절 매니퓰레이터 이상동작에 대한 작업자의 반응특성과 안전속도 수준을 다루고 있다. 매니퓰레이터 팔의 속도, 오류 가능성, 오류 형태와 같은 여러 가지 작업 조건에 따라 작업자의 반응시간, 고장 경보(false alarm), 실패(miss) 횟수 등에 대한 작업자의 반응 특성을 분석하였다. 매니퓰레이터 팔의 속도와 이상동작 형태는 반응시간에 영향을 주지만, 이상동작 가능성에 영향을 미치지 않았고, 두 요인 이상의 교호작용은 대체로 영향이 없었다. 매니퓰레이터 팔의 속도변화에 따른 반응시간 특성은 이상동작 형태에 따라 다르지만 대체로 약간 증가하는 추세를 보였다.

• Journal of Advanced Marine Engineering and Technology
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• 제35권1호
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• pp.60-67
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• 2011

본 논문에서는 중력보상기의 구조에 대해 연구하였고, 이를 적용하여 토크 성능을 개선하고 위치 오차를 줄이는 새로운 구조의 6축 다관절 로봇 매니퓰레이터에 대하여 연구하였다. 로봇 팔의 기구해석을 하였다. 또한, 로봇 팔의 1 및 2 축에 중력보상기를 적용한 관절구동기의 성능시험을 하였다. 성능 시험결과, 중력보상기를 적용한 로봇 관절구동기의 외부부하와 반복위치 오차가 대폭 감소됨이 검증되었다.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2002년도 추계종합학술대회
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• pp.775-778
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• 2002

본 논문에서는 클라이언트 PC상에서 다축 모터를 제어하고 그 상태 데이터들을 모니터링 가능한 임베디드 웹 서버 기반의 다축 제어 시스템을 구성하였다. 하드웨어는 ARM 7312 CPU를 사용한 Nanowit사의 NanoWit2 보드를 사용하였다. 웹 서버는 이 보드에 리눅스 OS를 포팅하고 리눅스 프로그램인 GCC를 사용하여 구현하였다. 모션 컨트롤러는 이모션텍(주)의 MCS-40을 사용하여 웹 서버 보드에서 전송되는 제어 신호를 받아 다축 모터를 구동하고 상태 데이터들을 웹 서버 쪽으로 전송한다.

• 대한인간공학회지
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• 제19권2호
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• pp.75-86
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• 2000

In this study, the characteristics of transmitted vibration on HAS(hand-arm system) were identified to evaluate physical load due to the work surface orientation, tool weight and push force during powered drilling tasks. The characteristics of transmitted vibration on work surface orientation showed that the acceleration of transmitted vibration on horizontal work surface was higher than that on the vertical work surface. Regarding the characteristics of transmitted vibration on tool weight, the vibration acceleration level becomes lower as the tool weight becomes heavier. The amount of transmitted vibration on hand-arm system was decreased down to the tool weight of 2.4kg. However, as the tool weight becomes heavier than 2.8kg, the amount of transmitted vibration was increased and had peak value at 3.2kg of tool weight. Regarding the characteristics of transmitted vibration on push force, the vibration acceleration level goes higher, as the push force becomes larger. The characteristics of transmitted vibration on the axis of vibration showed that the direction of $Z_h$ had the highest acceleration compared to the direction of $X_h$, and $Y_h$. The direction of $X_h$, $Y_h$ and $Z_h$ had the highest acceleration of transmitted vibration on the hand, wrist and elbow, respectively. The results of this study showed that the condition which affect the lowest physical load to the subject on the powered drilling task would be working with the 2.4kg of tool weight on the vertical work surface.

• International Journal of Precision Engineering and Manufacturing
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• 제2권3호
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• pp.34-40
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• 2001

Robot manipulator has highly nonlinear dynamics. Therefore the control of multi-link robot arms is a challenging and difficult problem. In this paper a decentralized adaptive fuzzy sliding mode scheme is developed for control of robot manipulators. The proposed scheme does not require an accurate manipulator dynamic model, yet it guarantees asymptotic trajectory tracking despite gross robot parameter variations. Numerical simulation for decentralized control of a 3-axis PUMA arm will also be included.

• Advances in robotics research
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• 제2권2호
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• pp.113-127
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• 2018

Robotics and automation are rapidly growing in the industries replacing human labor. The idea of robots replacing humans is positively influencing the business thereby increasing its scope of research. This paper discusses the development of an experimental platform controlled by a robotic arm through Robot Operating System (ROS). ROS is an open source platform over an existing operating system providing various types of robots with advanced capabilities from an operating system to low-level control. We aim in this work to control a 7-DOF manipulator arm (Robai Cyton Gamma 300) equipped with an external vision camera system through ROS and demonstrate the task of balancing a ball on a plate-type end effector. In order to perform feedback control of the balancing task, the ball is designed to be tracked using a camera (Sony PlayStation Eye) through a tracking algorithm written in C++ using OpenCV libraries. The joint actuators of the robot are servo motors (Dynamixel) and these motors are directly controlled through a low-level control algorithm. To simplify the control, the system is modeled such that the plate has two-axis linearized motion. The developed system along with the proposed approaches could be used for more complicated tasks requiring more number of joint control as well as for a testbed for students to learn ROS with control theories in robotics.

• Journal of Biosystems Engineering
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• 제26권2호
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• pp.163-168
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• 2001

A manipulator for test-cup attachment modules, which was a part of a robot milking system, was developed to reduce cost and labor for cow milking processing. A Cartesian coordinate manipulator was designed for the milking process, because it was quite flexible and can be constructed more economically than any other configuration. The manipulator was made use of DC motors, screws for power transmission, a RS422 interface system for the transmission of coordinate values and a one-chip microprocessor, 89C52. Performance tests of the manipulator were conducted to measure experimentally the precision of all axes. Some of the results are as follows. 1. The Cartesian coordinate manipulator was designed and built. Dimension of the three perpendicular axes (X, Y, and Z) and one arm’s axis(W) to pick up and transfer the modules were 700㎜$\times$450㎜$\times$550㎜$\times$650㎜. The arm’s axis moved the teat-cup attachment module, which attached four teat-cup to four teats, detached four teat-cup from four teats, was designed and manufactured by using CAD, CAM and CNC. 3. After 10 replications of exercising the manipulator, mean precision values(positioning error) of X, Y, Z axes wee 0.48㎜, 0.20㎜, 0.19㎜, respectively. Therefore, we conclude the axes to have a precision better than 0.5㎜, had no problem to operate correctly the milking manipulator.

• 한국정밀공학회지
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• 제30권4호
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• pp.397-402
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• 2013

In this study, we carried out the each lines of section, using GC (green silicon carbide) whetstone, the SCM415 material which separated by after and before heat treatments process, in 3+2 axis machining centers for integrated grinding after cutting end mill works, the spindle speed 8000 rpm and feed rate 150 mm/min. For the analysis of the centerline average roughness (Ra), we measured by 10 steps stages. Using Finite element analysis, we found the result of the load analysis effect of the assembly parts, when applied the 11 kg's load on both side of the ATC (Automatic tool change) arm. The result is as follows. For the centerline average roughness (Ra) in the non-heat treatment work pieces, are appeared the most favorable in the tenth section are $0.510{\mu}m$, that were shown in the near the straight line section which is the smallest deformation of curve. In addition, the bad surface roughness appears on the path is to long by changing angle, the more inclined depth of cut, because the chip discharging is not smoothly.

• 한국CDE학회논문집
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• 제9권4호
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• pp.277-285
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• 2004

In this paper, a 2 DOF haptic yawing joystick for use as the navigation input device in virtual environments is introduced. The haptic yawing joystick has 360° range for yawing motion and ±100° for pitching motion. The device can support weights of up to 26N for χ axis and 10N for axis with 10kHz of sampling rate. The size of the haptic yawing joystick is so small that it can be assembled on armrest of an arm chair and has relatively larger work space than other conventional 2 DOF joysticks. For the haptic yawing joystick, an ellipse navigation algorithm using the user's velocity in the virtual navigation is proposed. The ellipse represents the velocity of the user. According to the velocity of the navigator, the ellipse size is supposed to be changed. Since the path width of navigation environments is limited, the ellipse size is also limited. The ellipse navigation algorithm is tested in 2 dimensional virtual environments. The test results show that the average velocity of the navigation with the algorithm is faster than the average navigation velocity without the algorithm.

• 한국공작기계학회논문집
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• 제18권2호
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• pp.154-161
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• 2009

In order to implement continuous-path motion on a robot, it is necessary to blend one joint motion to another joint motion near a via point in a trapezoidal form of joint velocity. First, the velocity superposition using parametric interpolation is proposed. Hybrid motion blending is defined as the blending of different two type's motions such as blending of joint motion with linear motion, in the neighborhood of a via point. Second, hybrid motion blending algorithm is proposed based on velocity superposition using parametric interpolation. By using a 3-axis SCARA (Selective Compliance Assembly Robot Arm) robot with $LabVIEW^{(R)}$ $controller^{(1)}$, the velocity superposition algorithm using parametric interpolation is shown to result in less vibration, compared with PTP(Point- To-Point) motion and Kim's algorithm. Moreover, the hybrid motion $algorithm^{(2)}$ is implemented on the robot using $LabVIEW^{(R)(1)}$ programming, which is confirmed by showing the end-effector path of joint-linear hybrid motion.