• Journal of the Korean Institute of Telematics and Electronics
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• v.26 no.10
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• pp.1471-1478
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• 1989

The optimal-time control of the coordinated motion of two robot manipulators may be of consequence in the industrial automation. In this paper two robot manipulators garsping a common object are assumed to travel a specified Cartesian path and the method how to derive the optimal-time solution is explained. This approach is based on parameterizing the corresponding patn and utilizing the phase-plame technique in the trajectory planning. Also the torques supplied by the actuators are assumed to have some constant bounds. The effectiveness of this approach is demonstrated by a computer simulation using a PUMA 560 manipulator.

• Journal of the Korean Institute of Intelligent Systems
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• v.6 no.3
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• pp.3-13
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• 1996

In orde to reduce huge memory requirements of multidimensional CMAC problems, building a CMAC system by problem decomposition is investigated. Decomposition is based on resolving a displacement vector in cartesian coordinates into unit vectors that define a few lower-dimensional CMACs in the CMAC system. A CMAC system for an an in verse kinematics problem for a planar manipulator was simulated and the performance of the system was evaluated in terms of training and output quality.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.317-321
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• 1989

The FIC(Flat Integrated Circuits)is widely used for good productivity but very difficult for visual identification. The required position tolerance is 0.05mm and orientation tolerance is 0.25 degree for assembly. The research was performed to detect FIC defects and to estimate the placement of FIC within the tolerances. In this study an automatic visual system is developed, which can successfully perform a fine assembly operation using the cartesian robot.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.92-97
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• 1988

The path planning is done at the joint level. Cubic spline functions are used for constructing joint trajectories for industrial robots. For N-joint robot, Cartesian knots are transformed into N sets of joint displacements, with one set for each joint. For industrial application the speed of operation affects the productivity. An algorithm is developed to schedule the time intervals between each pair of adjacent knots such that the total traveling time is minimized subject to the physical constraints on joint velocties acceleration and jerks.

• Journal of computational fluids engineering
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• v.18 no.2
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• pp.72-77
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• 2013

The Pre-processor program for CFD is being developed using wxWidgets and OpenGL libraries. This program can be run on both Windows and Linux operating systems. Undergraduate students and beginners can learn and use this very easily by menu and templates. Until now, structured mesh can be created in Cartesian or Cylindrical coordinates. This program will be used easily to make various type of meshes using templates.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.518-521
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• 1995

In this paper, a learning control problem is formulated for cooperating multiple-robot manipulators with uncertain system parameters. The commonly held object is also assumed to be unknown and the multiple-robots themselfs experience uncertain operating conditions such as link parameters, viscous friction parameters, suctions, actuator bias, and etc. Under these conditions, the learning controllers designed for learning of uncertain parameters and robot control inputs for multiple-robot systems are shown to drive the multiple-robot manipulators to follow the desired Cartesian trajectory with the desired internal forces to the unknown object.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.175-180
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• 1990

Rotational-free-surface (RFS) is a special type of free surface whose two boundaries coincide. For NC machining of PFS, a rotational axis as well as three Cartesian axes are required. In this paper, we develop a four-axis CAM module consisting of: a) Geometric modeling of RFS, b) CL-data generation, and c) Graphic simulation of machining operation. To test the validity and effectiveness of the developed module, several test cuts are made with Bridgeport CNC milling machine and compared with the graphic simulation.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.562-565
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• 1987

This paper addresses the development of the estimation algorithm to acquire target position, velocity and course using bearing-only measurements in two dimensional environment. System state equations are derived from modified polar coordinates instead of existing Cartesian coordinates system. The Extended Kalman Filter is used to constitute the estimation algorithm because of state equation's nonlinearity. The computer simulation is done to verify the performance of derived algorithm. Simulation result showed that estimated state value of filter was converged to the true value in 10 minutes.

• Journal of the Korean Institute of Telematics and Electronics
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• v.26 no.9
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• pp.1332-1339
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• 1989

The problem of finding an admissible object trajectory for a cooperating two-robot system is investigated. The method is based on reformulating the problem as a nonlinear optimization problem with equality constraints in terms of the joint variables. The optimization problem is then solved numerically on a computer. The solution automatically gives the corresponding joint variable trajectories as well, thus eliminating the need for solving the inverse kinematic problem. The performance indices are chose in joint and cartesian spaces and computer simulations are performed.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.243-245
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• 2007

This paper presents the implementation of teleoperation control of an omni-direction mobile robot. The master joystick robot has two degrees of freedom to control the movement of the slave mobile robot in the Cartesian space. In addition, the whole teleoperated control system is closed by the force feedback. The operator can feel the contact force as the slave robot makes contact with the environment. Experimental results show that the teleooerated control with force feedback has been successfully implemented.