• Journal of Internet Computing and Services
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• v.11 no.4
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• pp.95-106
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• 2010

Recently multiple process communicate together. They share resource and information for cooperation in complicated programming environment. Kernel provides IPC (Inter -Process Communication) for communication with each other process. Shared Memory is a technique that many processes can access to identical memory area in the Linux environment. In this paper, we propose a performance improvement method of shared memory in the dual-core embedded linux system which is consist of different core and different operating system. We construct the MPC2530F (ARM926F+ARM946E) linux system and measure the performance therein. We attempt a performance enhancement in each CPU for each process which uses a shared memory.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.2
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• pp.69-74
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• 2016

This study proposes a new approach to design of the robust control application of a mobile manipulator with dual-arm. The mobil manipulator robot system consists of 12 DOF manipulators and a mobile robot. Kinematics of the robotics has been analyzed and simulated to verify reliability. A position-based torque control technique is applied to the robot by adding an outer loop to interact with the environment. Experimental studies of torque control applications of robot arm and interaction with a user operator are conducted. Experimental results has been proved that the robot arm performed regulated to follow the desired reference.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.735-739
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• 2003

This paper presents a direct seek control algorithm for swing-arm type dual stage servo system that consists of a coarse actuator and a fine actuator. The proposed scheme is to design a control system that attenuates the effect of dynamic coupling between the two actuators so that the seek operation can be performed in a single-shot with stability. In an optical drive system with dual stage servo mechanism, the effect of dynamic coupling between the two actuators needs to be handled during the coarse seek operation due to its inherent structure. In an extreme case, the two actuators can collide each other, which leads to critical degradation of the seek performance. To handle this problem, our proposed control scheme is to generate the drive signals such that the two actuators behave as if they are a single fixed body. To this end, a feedforward controller and two feedback controllers are designed that enable the current drive system perform wide range of track seek. Simulation results are provided to show the validity and feasibility of our proposed algorithm.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.37-38
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• 2012

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.168-171
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• 1993

In this paper, we design a time optimal controller of a dual arm robot to handle the object. Differently from the master-slave type robot, same priority is imposed on the both of the arms for effective handling the specifed object. For finding a time optimal collision-free trajectory, a graphical method is applied for the robot with two degree of freedom. Some simulation results show the effectiveness of the proposed method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.06a
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• pp.33-34
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• 2008

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.176-181
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• 2000

Collision free task planning for dual-arm robot which perform many subtasks in a common work space can be achieved in two steps : path planning and trajectory planning. path planning finds the order of tasks for each robot to minimize path lengths as well as to avoid collision with static obstacles. A trajectory planning strategy is to let each robot move along its path as fast as possible and delay one robot at its initial position or reduce speed at the middle of its path to avoid collision with the other robot.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.9
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• pp.38-44
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• 2009

• Journal of the Korean Society for Precision Engineering
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• v.26 no.9
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• pp.14-22
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• 2009

• Journal of the Korean Society for Precision Engineering
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• v.26 no.9
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• pp.23-30
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• 2009