• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.551-556
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• 1991

This paper deal with the solution of kinematics and inverse kinematics of industrial FANUC robot by the bisection method with IBM PC 386. The inverse kinematics of FANUC robot cannot be solved by the algebraical method, because arm matrix T$_{6}$ is very complex and 6-joint angles are associated with the position and the approach of end-effector. Instead we found other 5-joint angle by an algebraical method after finding .theta.$_{4}$ value by a bisection method.d.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.953-958
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• 1992

This paper deals with the solution of inverse kinematics of the industrial FANUC robot with IBM PC386. The inverse kinematics of FANUC robot cannot be solved by the algebraical method, because arm matirix T$_{6}$ is very complex and 6-joint angles are associated with the position and the approach of end-effector. Instead we fuund otehr 5-joint angle by and algebraical method after finding .THETA.$_{1}$ value by a numerical method.d.

• 한국레이저가공학회:학술대회논문집
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• 한국레이저가공학회 1998년도 추계학술발표대회 초록개요집
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• pp.0-0
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• 1998

-Part I- As market needs become more various, the production of smaller quantities of a wider variety of products becomes increasingly important. In addition, in order to meet demands for more efficient production, long-term unmanned factory operation is prevailing at a remarkable pace. Within this context, laser machines are gaining increasing popularity for use in applications such as cutting and welding metallic and ceramic materials. FANUC supplies four models of $CO_2$ laser oscillators with laser power ranging from 1.5㎾ to 6㎾ on an OEM basis to machine tool builders. However, FANUC has been requested to produce laser oscillators that allow more compact and lower-cost laser machines to be built. To meet such demands, FANUC has developed six models of Slab type YAG laser oscillators with output power ranging from 150W to 2㎾. These oscillators are designed mainly fur cutting and welding sheet metals. The oscillator has an exceptionally superior laser beam quality compared to conventional YAG laser oscillators, thus providing significantly improved machining capability. In addition, the laser beam of the oscillator can be efficiently transmitted through quartz optical fibers, enabling laser machines to be simplified and made more compact. This paper introduces the features of FANUC’s developed Slab type YAG laser oscillators and their applications. - Part II - All-solid-state lasers employing laser diodes (LD) as a source of pumping solid-state laser feature high efficiency, compactness, and high reliability. Thus, they are expected to provide a new generation of processing tools in various fields, especially in automobile and aircraft industries where great hopes are being placed on laser welding technology for steel plates and aluminum materials for which a significant growth in demand is expected. Also, in power plants, it is hoped that reliability and safety will be improved by using the laser welding technology. As in the above, the advent of high-power all-solid-state lasers may not only bring a great technological innovation to existing industry, but also create new industry. This is the background for this project, which has set its sights on the development of high-power, all-solid-state lasers with an average output of over 10㎾, an oscillation efficiency of over 20%, and a laser head volume of below 0.05㎥. FANUC Ltd. is responsible for the research and development of slab type lasers, and TOSHIBA Corp. far rod type lasers. By pumping slab type Nd: YAG crystal and by using quasi-continuous wave (QCW) type LD stacks, FANUC has already obtained an average output power of 1.7㎾, an optical conversion efficiency of 42%, and an electro-optical conversion efficiency of 16%. These conversion efficiencies are the best results the world has ever seen in the field of high-power all-solid-state lasers. TOSHIBA Corp. has also obtained an output power of 1.2㎾, an optical conversion efficiency of 30％, and an electro-optical conversion efficiency of 12%, by pumping the rod type Nd: YAG crystal by continuous wave (CW) type LD stacks. The laser power achieved by TOSHIBA Corp. is also a new world record in the field of rod type all-solid-state lasers. This report provides details of the above results and some information on future development plans.

• 한국생산제조학회지
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• 제7권1호
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• pp.104-111
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• 1998

This study solves the inverse kinematics problem of industrial FANUC robot. Because every joint angle of FANUC robot is dependent on the position of end-effector and the direction of approach vector, arm metrix T6 is very complicated and each joint angle is a function of other joint angles. Therefore, the inverse kinematics problem can not be solved by conventional methods. Noticing the fact that if one joint angle is known, the other joint angles are calculated by the algebraic methods. $ heta$1 is calculated using neumerical analysis method, and solves inverse kinematics problem. This proposed method, in this study, is more simpler and faster than conventional methods and is very useful in the real-time control of the manipulator.

• 한국산업융합학회 논문집
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• 제7권2호
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• pp.207-213
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• 2004

This paper describes the development of Behind-Tape-Reader (BTR) type DNC system using CYBER 180-830 as a central computer and IBM PC-AT cell control computer and NC lathe with FANUC 5T NC controller. In this system, the connection between central computer and cell control computer is done via RS-232C serial interface board, and that between cell control computer and FANUC 5T controller is done via parallel interface board. The software consists of two module, central computer communication module for NC program downloading and status uploading, NC machine running module for NC operating.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2016년도 춘계학술대회
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• pp.737-738
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• 2016

현재 CNC 공작기계의 대부분은 20~30년 된 구형 가공기가 대부분이며, 이러한 구형 CNC 가공기를 통하여 전산화된 생산관리 시스템의 구현할 수 없다. 때문에 본 연구에서는 구형 CNC 가공기를 전산화할 수 있도록 CNC 가공기에 MSPS(Multi Sensor Processing Station)을 설치하여 구형 CNC 가공기를 전산화 하도록 시스템을 구성하였다. 그러나 기존의 신형 CNC 가공기의 대부분은 FANUC사의 FOCAS Library를 기반으로 구성되어 있다. 본 논문에서는 기존의 FANUC사의 FOCAS Library 기반으로 개발되어 있는 생산관리 시스템에 추가로 적용할 수 있도록 MSPS 기반의 구형 CNC 가공기 통신 프로토콜을 설계하여 신형 및 구형 CNC 가공기도 동시에 전산화 하여 관리할 수 있는 시스템을 제안하고자 한다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 추계학술대회 논문집
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• pp.431-432
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• 2012

• 대한기계학회논문집
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• 제18권4호
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• pp.805-815
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• 1994

The development of automatic production systems has a trend toward Computer Integrated Manufacturing System(CIMS) in recent years. In hardware configuration, CIMS are composed of intelligent CAD/CAM work stations, multifunction CNC machining centers including material handling systems. The DNC systems present the key element of automation hierarchy in a FMS. A DNC system is one which connects a number of numerically-controlled machines to a common memory in a digital computer for part program storage with provision for on-demand distribution of part program data to machines using communication in hierarchical structure of central computer, control computer and cell controller. This paper describes the development of Behind-the-Tape-Reader(BTR) type DNC system using CYBER 180-830 as a central computer and IBM PC-386 cell control computer and NC lathe with FANUC 5T NC controller. In this system, the connection between central computer and cell control computer is done via RS-232C serial interface board, and the connection between cell control computer and FANUC 5T controller is done via parallel interface board. The software consists of two module, central computer communication module for NC program downloading and status uploading, NC machine running module for NC operating.

• 기술혁신연구
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• 제24권2호
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• pp.21-56
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• 2016

그간 우리나라 등 후발주자의 추격과 그 성과에 대해 다양한 연구가 수행되었으나, 후발주자가 개발한 제품의 아키텍처가 추격 성과에 미친 영향에 대한 논의는 극히 부족하였다. 또한 공작기계의 움직임을 자동으로 제어하는 핵심 부품인 수치제어장치 분야에서 우리나라는 반도체, 조선, 자동차 산업과 달리 과거 40년에 가까운 기간 동안 다양한 개발체제 운영과 정부 지원에도 불구하고 제한적인 추격 성과를 보이거나 추격에 실패하였다. 이에 따라 본 연구에서는 우리나라 공작기계 수치제어장치 개발 사례를 중심으로 제품 아키텍처가 추격 성과에 미친 영향을 탐색적으로 고찰하였으며, 이를 위해 동 분야의 후발주자임에도 불구하고 세계 선도 기업으로 성장한 일본 화낙의 수치제어장치 아키텍처 진화 사례에 대한 심층 분석을 병행하였다. 연구결과 일본 화낙은 1980년대 중반 이후 수치제어장치 아키텍처의 개방형 모듈화를 달성함으로써 다양한 공작기계 생산 기업의 요구 사항에 부응하면서 대량 생산을 통한 원가 절감이 가능한 수치제어장치를 개발 생산하는 데 성공하였다. 이를 통해 화낙은 시장 점유율 확대 및 뛰어난 성과를 달성하였음을 발견하였다. 반면 우리나라는 1970년대 말 이후 약 40년 간의 추격 노력에도 불구하고 수치제어장치 아키텍처의 개방형 모듈화를 달성하지 못함으로 인해 다양한 수요 기업이 생산하는 공작기계에 채택되는데 실패하였으며, 결과적으로 제한된 추격 성과에 그치고 말았다. 또한 이러한 제한적인 추격 성과는 개발 주체의 파산과 매각, 폐쇄 등으로 이어지면서 기술적 지식의 누적에 큰 어려움을 겪었으며, 이로 인해 수치제어장치 아키텍처의 개방형 모듈화를 달성할 수 있는 만큼의 기술을 축적하거나 설계 역량을 확보하지 못했음을 발견하였다. 본 연구 결과는 제품 아키텍처 관점에서 후발주자의 추격 성과를 규명하고, 성공적인 기술 추격에도 불구하고 시장추격에 실패하는 원인을 규명할 수 있는 이론적 기반을 구축하는 데 그 의의가 있다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.44-47
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• 1997

Building a reliable mobile robot - one that can navigate without failures for long periods of time - requires that the uncertainty which results from control and sensing is bounded. This paper proposes a new mobile robot localization method using artificial landmarks. For a mobile robot localization, the proposed method uses a camera calibration(only extrinsic parameters). We use the FANUC arc mate to estimate the posture error, and the result shows that the position error is less than 1 cm and the orientation error less than 1 degrees.