• Journal of the Korean Society of Safety
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• v.11 no.4
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• pp.16-23
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• 1996

In controlling manipulators interacting with the external environment, an important role is played by the Force/Torque(F/T) sensors. Recently, a number of structures for F/T sensors have been proposed, and some criteria for their evaluation have been introduced. This paper presents a systematic analysis of F/T sensor at the design stage. A model of the F/T sensors, based on Stewart Platform structure, is developed on the basis of static and kinematic equation. The condition number defined by the kinematic velocity and force analysis of F/T sensor is used as a performance Index. Thus, 4 optimal structure factors of 6 D.O. F. F/T sensor are determined by using the condition number.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1997.10a
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• pp.48-53
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• 1997

The objective of this paper is to present the development and application of interface software between robot and F/T sensor for force control. The interface software for among the robot controller, F/T sensor, and host PC is based on interrupt-driven method. To show the suitability of developed interface software, writing-task is performed in real time using F/T sensor that mounts on the wrist of the robot and Scara type 4-axis robot.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1677-1680
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• 1991

Machining is a bottleneck in robot application technologies because of uncertainty of position/form, poor reliability of robot function and low reaction speed of robot to changes of surroundings, But in grinding automation with relatively low machining speed it is feasible to integrate of sensor signal in machining. In this paper strategy for robotic grinding with F/T sensor will be presented and with that the experimental results will be discussed. F/T sensor signal in grinding of strategy weld seam are transferred to PC, which plays a role as cell computer and transform F/T data to robot position and/or orientation, speed correction data according to programmed algorithm. The possibility and boundary of robotic grinding with F/T sensor intergration is discussed.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.339-342
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• 1996

In this paper, the method for controlling PUMA robot using F/T sensor is described. In the part of the setup automation, robot is used. The F/T sensor is located at robot end-effector and various experiments are executed such as peg in hole, gripping objects, tool changing, etc.

• Journal of the Korean Society of Industry Convergence
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• v.26 no.1
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• pp.211-215
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• 2023

In this paper, the stability and effectiveness of the force control with a 6-axis compliance device are verified by performing comparative experiments with a commercial F/T sensor. The position/force control algorithm based on the Cartesian stiffness of a compliance device is briefly introduced and the design result of a 6-axis compliance device with F/T sensing is presented. The comparative experiments show that the force control using a compliance device is much more stable than that with rigid F/T sensor due to the enough compliance of a compliance device larger than robot positional resolution.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.6
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• pp.91-98
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• 2013

Magnetic sensor chip for measuring bio-magnetism is implemented in $0.18{\mu}m$ CMOS technology. The magnetic sensor chip consists of a small-sized high inductance coil sensor and an instrumentation amplifier (IA). High inductance coil sensor with suitable sensitivity and bandwidth for measurement of bio-magnetic signal is designed using electromagnetic field simulation. Low gm operational transconductance amplifier (OTA) using transconductance reduction techniques is designed for on-chip solution. Output signal sensitivity of magnetic sensor chip is $3.25fT/{\mu}V$ and reference noise of 21.1fT/${\surd}$Hz. Proposed IA is designed along with band pass filters(BPF) to reduce magnetic signal noise by using current feedback techniques. Proposed IA achieves a common mode rejection ratio of 117.5dB while the input noise referred is kept below $0.87{\mu}V$.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.1
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• pp.26-34
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• 1998

In this paper, a force control algorithm for edge following task is suggested. Through the contact state modeling between rigid part and end-effector of robot, contact force and contact angle that are essencial parameters to build the control strategies for following movement of end-effector are derived. From these two parameters, we discriminate the every contact state into 8 cases and calculate the new moving position and direction simply. For the experiment. RX90 robot from Staubli with robot language V$^{+}$ is applied and F/T sensor is attached to the wrist of robot with RCC. Finally, 3 edge following experiments including the following of corner point are executed with successful results.s.

• Proceedings of the KIEE Conference
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• 2001.11a
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• pp.224-226
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• 2001

In this paper, a novel high-voltage motor monitoring system (HVMMS) is proposed. This system monitors the insulation condition of the stator winding by on-line measurements of partial discharge (PD). Sensor, EMC (Epoxy-Mica Coupler) is used for PD measurement PD signals are continuously measured and digitized with a peak-hold A/D converter to build the database of the high-voltage motor's insulation condition. Also, this system can communicate with the central monitoring system via RS-485. This helps more efficient operation and maintenance of the generator.

• Journal of Sensor Science and Technology
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• v.24 no.3
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• pp.181-187
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• 2015

The magnetoelectric characteristics on layered $Fe_{78}B_{13}Si_9/PZT$ and $Fe_{78}B_{13}Si_9/PZT/Fe_{78}B_{13}Si_9$($t_m=0.017$, 0.034mm) composites by epoxy bonding for magnetic field sensor were investigated in the low-frequency range and resonance frequency range. The optimal bias magnetic field $H_{dc}$ of these samples was about 23~63 Oe range. The Me coefficient of $Fe_{78}B_{13}Si_9/PZT/Fe_{78}B_{13}Si_9(t_m=0.034mm)$ composites reaches a maximum of $186mV/cm{\cdot}Oe$ at $H_{dc}=63Oe$, f=50 Hz and a maximum of $1280mV/cm{\cdot}Oe$ at $H_{dc}=63Oe$, resonance frequency $f_r=95.5KHz$. The output voltage shows linearity proportional to ac fields $H_{ac}$ and is about U=0~130.6 mV at $H_{ac}=0{\sim}7Oe$, f=50 Hz, U=0~12.4 V at $H_{ac}=0{\sim}10Oe$, $f_r=95.5KHz$(resonance frequency). The optimal frequency(f=50 Hz) of this sample is around the utility ac frequency(f=60 Hz). Therefore, this sample will allow for ac magnetic field sensor at utility frequency and low bias magnetic fields $H_{dc}$.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.6
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• pp.771-780
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• 2010

This paper describes the design process of a six-component force/torque (F/T) sensor. The new six-component F/T sensor having leaf spring ends has been developed using a cross beam structure as the basic sensing element. Fundamental strain analysis of both ends fixed beam having a leaf spring structure is performed by finite element analysis. In order to obtain similar output sensing strains from the six component loads and minimize coupling strains, the optimal location of strain gages is determined and the strain gages are connected so that the bridge circuits with four strain gages would be balanced. Using leaf spring ends instead of rigid fixed ends, remarkable increment in output sensing strain can be achieved for two component forces. Several modifications in design result in a similar sensing strain of approximately $400\;{\mu}m/m$ for the six-component forces and moments, and a reduced coupling strain of $0\;{\mu}m/m$ between the forces and moments.