• 제어로봇시스템학회논문지
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• 제15권9호
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• pp.887-893
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• 2009

In this paper, a mask-panel alignment robot system is considered for IT industry applications. Two kinds of solutions are suggested which are required in constructing a control system for the alignment robot with actuation redundancy. First, the kinematic solution for the 4PPR parallel positioning mechanism is formulated for an arbitrary initial posture, which relates the mask-panel misalignment in the task space and the desired actuator displacements in the joint space. Secondly, in order to increase the stiffness of the control motion and also to avoid the mechanical lock which may happen due to the redundant actuation, a new synchronous control method is proposed which has the merit of coordinating joint control motions while not losing individual joint control performance. In addition, the engineering process to develop a visual alignment robot system is described with the results of experimental setup and GUI software. Finally, the experimental results demonstrate the effectiveness of the proposed alignment system control methodology and how much beneficial it will be in real industrial applications.

• 대한기계학회논문집A
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• 제28권12호
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• pp.1845-1855
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• 2004

This paper presents the forward kinematics of the Casing Oscillator that is a construction machine. The Structure of the Casing Oscillator is similar to those of 4 degree-of-freedom mechanisms with a redundancy. With analytical (geometrical) methods, the solutions of the forward position kinematics problem are significantly found by both solving an 8$^{th}$ -order polynomial equation in one unknown variable and using one over-constraint geometrical equation which can be derived under the condition of a redundancy. The proposed forward kinematics has closed-form solutions and allows Auto-Balancing control of the moving platform in real time. Numerical examples are presented and the results are verified by an inverse kinematics analysis.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.914-919
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• 1993

The kinematic resolutions of redundancy is addressed in this paper. The governing equation for quasistatic behavior of compliance governed redundant manipulators is formulated and the repeatable property of the manipulator is proposed. Then the compliance paradigm is used to resolve the redundancy in a repeatable way. The compliance paradigm is one under which the controller simulates the imaginary manipulator which is governed to move by real joint stiffness. The equation is expressed as the weighted pseudoinverse with the configuration dependent weighting matrix. Algorithmic singularities arisen from this scheme are also discussed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.615-620
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• 1989

Recently industrial robots are often used together with positioners to enhance the system performance for arc welding. In this paper, the redundancy control method is proposed for the robot-positioner system which is modeled as one kinematic model of 7 degrees of freedom. Also, the manipulability measure based on the Jocobian matrix is utilized to visualize the distribution of manipulability in a given section of the working space. An algorithm for the manipulability maximazation in a given task is developed and applied to the robot and positioner system. The simulation results are given in the case of straight line following.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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• pp.661-665
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• 1996

An inverse kinemetics problem of a reclaimer which digs and transports ironstones or coals in the raw yard is investigated. Because of the special features of the reclaimer of which scooping buckets are attached around the rotating drum at the end of boom, kinematic redundancy occurs in determining the joint varialbes For a given reclaiming point in space the forward kinematics yields 3 equations, however the number of involved variables in the equations are four. A plane equation approximating the surface near a reclaiming point is obtained by considering 8 adjacent points surrounding the reclaiming point. One extra equation to overcome redunduncyis further obtained from the condition that the normal vector at a reclaiming point is perpendicular to the plane. An approximate solution for a simplified problem is first discussed, Numerical solution for the oritinal nonlinear porblem with a constraint equation is also investigated. Finally a closed form solution which is not exact but sufficiently close enough is proposed by exploiting geometric constraint.

• 대한기계학회논문집
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• 제18권12호
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• pp.3253-3269
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• 1994

In this paper a new concept, named the Extended Operational Space Formulation, has been proposed for the effective analysis and real-time control of the robot manipulators with kinematic redundancy. The extended operational space consists of operational space and optimal null space. The operational space is used to describe robot end-effector motion; whereas the optimal null space, defined as the target space of the self motion manifold, is used to express the self motion for the secondary tasks. Based upon the proposed formulation, the kinematics, statics, and dynamics of redundant robots have been analyzed, and an efficient control algorithm has been proposed. Using this algorithm, one can optimize a performance measure while tracking a desired end-effector trajectory with a better computational efficiency than the conventional methods. The effective ness of the proposed method has been demonstrated with simulations.

• 대한전자공학회논문지
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• 제25권4호
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• pp.379-385
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• 1988

A kinematic control for redundant manipulators is consisdered. An efficient computation method is proposed to determine the joint variable solutions for a given Cartesian path of the end effector. In the proposed method, the Jacobian matrix and its pseudoinverse matrix are calculated intermittently only when the errors exceed the prescribed tolerance. Thereby, the computational burdens are greatly reduced, and at the same time, the errors are maintained within a tolerable range. To show the effectiveness of the mehtod, the result of the simulation is provided in which the redundancy of the manipulator is resolved to avoid the singularity.

• 대한전자공학회논문지
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• 제25권6호
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• pp.598-605
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• 1988

A kinematic control method for the redundant robot manipulator is proposed, where redundancy is utilized to avoid the limit of joint positions and velocities. For the given tadk, the joint positions are obtained in such a way that each joint is placed as close to its center point as possible by considering the velocity limit. The robot is, therefore, controlled so that the joints move with the acceptable velocities and lie within the reachable ranges. To show the validities of the proposed method, two examples are illustrated by computer simulations for the RHINO-XR robot with sliding base.

• 한국정밀공학회지
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• 제10권2호
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• pp.170-177
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• 1993

In robotic arc welding, the roll (rotation) of the torch about its direction vector does not have any effect on the welding operation. Thus we could use this redundant degree of greedom for the motion control of the robot manipulator. This paper presents an algorithm for the pseudo- inverse kinematic motion control of the 6-axis robot, which utilizes the above mentioned redunancy. The prototype welding operation and the tool path are also graphically simulated. Since the proposed algorithm requires only the position and normal vector of the weldine as an input data, it is useful for the CAD-based off-line programming of the arc welding robot. In addition, it also has the advantages of the redundant manipulator motion control, like singularity avoidance and collision free motion planning, when compared with the other motion control method based on the direct inverse kinematics.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.429-429
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• 2000

Micro positioning mechanism is the key technology in many fields, such as scanning electron microscopy (SEM), x-ray lithography, mask alignment and micro-machining. In the paper, a 3DOF parallel-type micro-positioning mechanism is proposed. This mechanism uses piezo-actuators and Flexure hinge to control x, y and $\theta$ motion. It is shown both analytically and numerically that 2 DOF flexure hinge model was better precision than 1 DOF flexure hinge design.