• Journal of Institute of Control, Robotics and Systems
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• v.13 no.1
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• pp.26-32
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• 2007

The most important thing in the container terminal is to handle the cargo effectively in the limited time. To achieve this object, many strategies have been introduced and applied to. If we consider the automated container terminal, it is necessary that the cargo handling equipments are equipped with more intelligent control systems. From the middle of the 1990's, an automated rail-mounted gantry crane(RMGC) and rubber-tired gantry crane(RTG) have been developed and widely used to handle containers in the yards. Recently, in these cranes, the many equipments like CCD cameras and sensors are mounted to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes which make the cargo handling be performed effectively in the yards. For this plant, the modelling, tracking control, anti-sway system design, skew motion suppressing and complicated motion control and suppressing problems must be considered. In this paper, the system modelling and a tracking control approach are discussed. And, we design the tracking control system incorporating an observer based on the 2DOF servosystem design approach to obtain the informations of the states. The experiment results show the usefulness of the designed control system.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1800-1803
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• 1997

This paper presents new feedback actuators to achieve an accurate position control of a flexible gnatry robot arm. the translational motion in the plane is generated by two d.c.motors and controlled by emplying elecor-rheological(ER) clutch acutators. The generated motion can be continuously controlled by controlling the intensity of lectric field imposed to the ER fluid domain which tunes the transmitted torque of the ER clutch. n the other hand, during control action of the translational motion a flexible arm attached to the moving mass produces undesirable oscillatins due to its inherent flexibility. The oscillations are actively suppressed by applying feedback voltages to piezoceramic acutators bonded on the surface of the flexible arm. The control electric fields to be applied to the ER clutch and the control voltage for the piezoceramic actuator are determined via the loop shaping esign procedures(LSDP) in the H.inf. control technique. Comsequently, an accuate positiion control at the end-point of the flexible am is achieved during planar motion.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.11
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• pp.554-560
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• 2020

In the manufacturing process of flat panel displays, a high-precision planar motion stage is used to position a specimen. Stages of this type typically use frictionless linear motors and air bearings, and laser interferometers. Real-time dynamic correction of the yaw motion error is very important because the inevitable yaw motion error of the stage means a change in the specimen orientation. Gantry control is generally used to compensate for yaw motion errors. Flexure units that allow rotational motion are applied to the stage to apply this method to a stage using an air-bearing guide. This paper proposes a method to improve the constant speed motion performance of a H-type XY stage equipped with air bearing and flexure units. When applying the gantry control to the stage, including the flexure units, the cause of the mutual ripple generated from the linear motors is analyzed, and adaptive learning control is proposed to compensate for the mutual ripple. A simulation was performed to verify the proposed method. The speed ripple was reduced to approximately the 22 % level. The ripple reduction was verified by simulating the stage state where yaw motion error occurs.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.517-517
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• 2000

Welding automation is one of the most important manufacturing issues in shipbuilding in order to lower the cost, increase the quality, and avoid the labor problems. Generally the on-line teaching is utilized on the robot that is used in the welding automation system, but it requires much effort and long time to program. Especially, if the system is composed of more than two cooperating robots, it demands much more skill to program the robots' motion. Thus, a convenient programming tool is required for efficient utilization of welding automation system. In this study, a convenient programming tool is developed for welding automation in which gantry-robot system is used. The system is composed of a gantry transporter and two robots mounted on the gantry to cover the wide work range in the ship building application. As a programming tool, an off-line programming software based on PC is developed. By using this software, field operator does not need to concern about coding of task programs for three control units, one is for gantry and two are for robots. The task programs are automatically generated by assembling the program modules in database according to geometrical information of workpiece and welding condition, which become the only concern of field operator, The feasibility of the generated programs can be verified via a motion simulator previously to on-line running.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.61-62
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• 2012

• KIPS Transactions on Software and Data Engineering
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• v.7 no.11
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• pp.405-410
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• 2018

When more parts are mounted in the same time in a surface mount equipment, the total output will increase and will improve productivity. In this paper, we propose a method to reduce the gantry drive time from the suction to the mounting of the component to improve the productivity of the surface mount equipment. The method was to find a way to get the maximum velocity in front of the camera during the vision inspection. In this paper, we have developed a stop-motion, fly1-motion, and fly2-motion drive time calculation algorithms for vision inspection and calculated the driving time of 3 methods and compared them. As a result, the fly1-motion method shortened the time by 13% and the fly2-motion method shortened the time by 18% than the stop-motion method.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.10
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• pp.172-179
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• 1998

To quickly determine the effect of the substitute component on the machine's performance is very important in the design and manufacturing processes. And minimizing machine cost and maximizing machine quality mandate predictability of machine accuracy. In this study, in order to evaluate the effects of the component's geometric errors and dimensions on the machining accuracy of gantry-type 5-axis machining centers, a geometric error analysis and virtual manufacturing system are developed based on the mathematical model for the shape generation motion of machine tool considering the component's geometric errors and dimensions, the solid modeling techniques and so on.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.307-307
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• 2000

The swing motion of the spreader during and after movement causes an efficiency problem of position control in unmaned gantry crane. The objective of this research is to design implementable stabilizing controllers that minimize the swing motion of spreader in precise position control. The dynamic equations related to trolley, rope, and spreader are derived. For constitute a similar actual system, we introduced a conception of spring and damper in the connector. It is located between the trolley and link that is used in stead of rope. We derived dynamic equation by appliance that friction and external disturbance are occurred to the connector. We constituted of position servo system and velocity servo system for the control of position and velocity of the trolley and constituted of lag compensator system for the control of sway of the spreader. And we will show an effect of the proposed system in this research finally.

• Journal of Power System Engineering
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• v.12 no.6
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• pp.42-49
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• 2008

The most important job in the container terminal area is to handle the cargo effectively in the limited time. To achieve this object, many strategies have been introduced and applied to. If we consider the automated container terminal, it is necessary that the cargo handling equipments are equipped with more intelligent control systems. From the middle of the 1990's, an automated rail-mounted gantry crane(RMGC) and rubber-tired gantry crane(RTG) have been developed and widely used to handle containers in the yards. Recently, in these cranes, the many equipments like CCD cameras and sensors are mounted to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes which make the cargo handling be performed effectively in the yards. For this plant, the modelling, tracking control, anti-sway system design, skew motion suppressing and complicated motion control and suppressing problems must be considered. Especially, in this paper, the system modelling and tracking control approach are discussed. And, we design the tracking control system incorporating an observer based on the 2DOF servo system design approach to obtain the desired state informations. In the case of observer design, a weighted $H_{\infty}$ error bound approach for a state estimator is considered. Based on an algebraic Riccati equation(inequality) approach, a necessary and sufficient condition for the existence of a full-order estimator which satisfies the weighted $H_{\infty}$ error bound is introduced. Where, the condition for existence of the estimator is denoted by a Linear Matrix Inequality(LMI) which gives an optimized solution and observer gain. Based on this result, we apply it to the tracking control system design for the transfer crane.

• Journal of the Korea Convergence Society
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• v.9 no.12
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• pp.1-7
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• 2018

Gentry is responsible for moving the fine chip in the device that mounts the chip on the PCB. However, it is not easy to increase productivity because of the mechanical limitations of the gantry. Therefore, in this paper, we try to solve the method to increase the productivity by software. For this purpose, we propose a method to improve the productivity by shortening the movement time of the gantry. First, we calculated the total travel time for the current method(stop-motion). In addition, the total travel time is also calculated for the travel time reduction method presented in this paper. This method reduces the travel time by checking parts without stopping in front of the camera. As a result, we showed that the proposed method shortened the time of 16%. In the future, we will study time calculation methods for other types.