• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.16 no.3
• /
• pp.31-36
• /
• 2007

The excavator is complex machinery which has widely used in the construction site, deck of harbor and deep sea. The one of important issue of excavator system in recent is an automation of it in order to improve a working efficiency, a convenience working circumstance and work satisfaction. However, since there are large nonlinearities of control circuit, actuating cylinder, joiners of hydraulic units and changing loads etc., it is difficult to develope an automatic excavator system. Therefore, in this study, toy scale pneumatic excavator system is constructed and the remote control system is installed on it, before developing the automatic excavator system. In order to design the control system of the developed pneumatic excavator system, the transfer function is obtained using signal processing method and the controller gains of PID are decided based on CDM(coefficient diagram method). The obtained transfer function and the performance of the proposed control system is evaluated through experiments and computer simulation.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2001.10a
• /
• pp.257-262
• /
• 2001

As computer-related technologies have been developed, legacy design systems have not been appropriate for new computing environment. Therefore, it is necessary that most of them are either modified or newly developed. However, this requires quite much amount of cost and time. This paper presents a method of extending legacy design system without modification using XML and XSLT. In order to apply the developed method, a good example of legacy design systems, AGMA gear rating system has been extended so as to be suitable for the distributed computing environment. An XML document for AGMA gear rating process is defined. It is transformed to the form of the input document of AGMA gear rating system by XSLT processor according to the transformation rules defined in the AGMA gear rating XSLT document. After that, AGMA gear rating system reads this input document and generates an output document in the server. These operations are automatically executed by the external legacy system controller without user interactions. Using these operations, AGMA gear rating web service has been developed based on SOAP and WSDL to provide the functions of legacy AGMA gear rating system through the distributed network. Any system or user can implement AGMA gear rating process independently to the platform type, without making it for oneself, by simply referring the AGMA gear rating web service via Internet.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2001.04a
• /
• pp.399-404
• /
• 2001

In CNC machining, a 3D(3-dimension) linear segment and a 2D(2-dimension) circular arc are general forms given by CAD/CAM system. Generally, the 2D circular arc machining is processed using dividing into some linear segments. A 3D circular arc also don't exist in the standard form of NC data. This paper present a algorithm and method for real-time machining of a circular arc(not only the 2D one, but also the 3D one). The 3D circular arc machining is based on the 2D circular arc machining. It only needs making a new coordinate system, converting given 3D points(a start point, a end point, and a center point of a 3D circular arc) into points of the new coordinate system, and processing a inverse transformation about a interpolated point. The proposed algorithm was implemented and simulated on PC system. It was confirmed to give a gcod result.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.17 no.6
• /
• pp.71-76
• /
• 2008

The focus of this paper is the designing a flexible three fingered hand system with 16 D.O.F for dynamic manipulation with an intelligent controller, and to build a useful database for dynamic manipulation based on the experimental results. The weight of the hand module is only 0.7 kg, but flexible motion and powerful grasping are possible. To achieve such a dynamic motion in a robotic hand, we have developed a flexible fingered hand with a control system incorporating image recognition system in which we deal with the problems of not only accuracy and range of motion but also the flexibility of hand. The fingers are arranged so as to grasp both circular and prismatic objects. In order to achieve the light mechanism, we reduced the number of joints and fingers as much as possible. We used three fingers, which is the minimum number to achieve a stable grasp.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.18 no.2
• /
• pp.154-161
• /
• 2009

In order to implement continuous-path motion on a robot, it is necessary to blend one joint motion to another joint motion near a via point in a trapezoidal form of joint velocity. First, the velocity superposition using parametric interpolation is proposed. Hybrid motion blending is defined as the blending of different two type's motions such as blending of joint motion with linear motion, in the neighborhood of a via point. Second, hybrid motion blending algorithm is proposed based on velocity superposition using parametric interpolation. By using a 3-axis SCARA (Selective Compliance Assembly Robot Arm) robot with $LabVIEW^{(R)}$ $controller^{(1)}$, the velocity superposition algorithm using parametric interpolation is shown to result in less vibration, compared with PTP(Point- To-Point) motion and Kim's algorithm. Moreover, the hybrid motion $algorithm^{(2)}$ is implemented on the robot using $LabVIEW^{(R)(1)}$ programming, which is confirmed by showing the end-effector path of joint-linear hybrid motion.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.18 no.1
• /
• pp.90-102
• /
• 2009

In this paper, a tracking control problem for a mechanical servo system with nonlinear dynamic friction is treated. The nonlinear friction model contains directly immeasurable friction state and the uncertainty caused by incomplete modeling and variations of its parameter. In order to provide the efficient solution to these control problems, we propose a hybrid control scheme, which consists of a robust friction state observer, a RFNN estimator and an approximation error estimator with sliding mode control. A sliding mode controller and a robust friction state observer is firstly designed to estimate the unknown infernal state of the LuGre friction model. Next, a RFNN estimator is introduced to approximate the unknown lumped friction uncertainty. Finally, an adaptive approximation error estimator is designed to compensate the approximation error of the RFNN estimator. Some simulations and experiments on the mechanical servo system composed of ball-screw and DC servo motor are presented. Results demonstrate the remarkable performance of the proposed control scheme.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.16 no.6
• /
• pp.71-78
• /
• 2007

There have been continuous efforts to automate welding processes. This automation process could be said to fall into two categories, weld seam tracking and weld quality evaluation. Recently, the attempts to achieve these two functions simultaneously are on the increase. For the study presented in this paper, a vision sensor is made, and using this, the 3 dimensional geometry of the bead is measured in real time. For the application in welding, which is the characteristic of nonlinear process, a fuzzy controller is designed. And with this, an adaptive control system is proposed which acquires the bead height and the coordinates of the point on the bead along the horizontal fillet joint, performs seam tracking with those data, and also at the same time, controls the bead geometry to a uniform shape. A communication system, which enables the communication with the industrial robot, is designed to control the bead geometry and to track the weld seam. Experiments are made with varied offset angles from the pre-taught weld path, and they showed the adaptive system works favorable results.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.17 no.2
• /
• pp.83-89
• /
• 2008

This paper presents the dynamic analysis and input shaping control of a positioning stage. Vibration characteristics of the positioning stage are affected not only by the structural dynamics but also by the servo actuators that consist of the mechanism; driving motor and controller. This paper proposes an integrated dynamic model to accommodate both the structural dynamics and the servo actuators. Theoretical modal analysis with a commercial finite element code is carried out to investigate the dynamic characteristics of the experimental positioning stage. Experiments are performed to validate the theoretical modal analysis and estimate the equivalent stiffness due to the servo actuators. This paper deals with an input shaping scheme to suppress vibration of the positioning stage. Input shapers are systematically implemented for the positioning stage in consideration of its dynamics. The effects of servo control gain are also investigated. The experiments show that input shaping effectively removes residual vibrations and then improves the performance of positioning stage.

• Journal of the Korean Society for Precision Engineering
• /
• v.19 no.7
• /
• pp.171-179
• /
• 2002

STEP-NC is the next generation CNC controller taking STEP-based data model as the interface scheme (or language) between CAM and CNC, and carrying out various intelligent functions. At the moment, efforts are being made worldwide to establish international standard for the new interface scheme formalized as ISO14649. As the new language is being established, increasing attention is being paid to the development of the new CNC. Korea STEP-NC is an integrated STEP-NC system taking ISO 14649 as an input, and carrying out various intelligent functions. It is composed of 5 modules: 1) Shop Floor Programming System (PosSFP), 2) Tool Path Generator (PosTPG), 3) Tool Path Viewer (PosTPV), 4) Man Machine Interface (PosMMI), and 5) CNC Kernel (PosCNC). Distinguished from other prototypes (of Europe and USA), the Korea STEP-NC is top-down designed, and bottom-up implemented comprehensively incorporating all the crucial components for realizing the full benefit of STEP-NC paradigm, without using any existing commercial CAD/CAM systems and CNC kernels. The Korea STEP-NC prototype was successfully demonstrated and evaluated in the ISO conventions Together with prototypes of Europe and USA, Korea STEP-NC will be used as a reference system fur the Triangular Conformance Test to be jointly carried out by ISO TC184 SC1, SC4, and IMS Project.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.10 no.6
• /
• pp.50-55
• /
• 2011

The fluid power products are widely used in current industrial area such as automation of products and equipment assembly, high-tech machine tool, aircraft, train, and etc. As the development of industry is in progress, the development of the fluid power products is demanding and it is required in every industrial area. This research proposed a pneumatic system to evaluate displacement accuracy of the pneumatic actuator without external load and to analyze capability of integration of the valve system. The pneumatic system consisted of a combination of pneumatic actuator, four two-port valves, two three-port valves, two pressure valve, a check valve, two proximity sensors, and a program logic controller (PLC). The position controller is based on the PLC connected with the proximity sensors. The maximum air pressure applied for tests was $49.05N/cm^2$ and the displacement accuracy of a stroke was measured using a dial gauge. The supply- and discharge-side of air pressure and the length of the stroke of the pneumatic cylinder were varied The test of the position control of the pneumatic cylinder was carried out 50 times at each supply- and discharge-side air pressure of 24.53/34.34, 29.43/39.24, 34.34/44.15, and $39.24/49.05N/cm^2$ and replicated three times. The accuracy of the displacement of the pneumatic cylinder stroke increased as the supply- and discharge-side of air pressure increased with the stroke length of 133mm. Also the displacement accuracy increased as the stroke length increased with the fixed supply- and discharge-side of air pressure of the pneumatic cylinder as 34.34 and $44.15N/cm^2$, respectively. The most accurate displacement of the pneumatic cylinder was obtained at the supplyand discharge-side of air pressure of 39.24 and $49.05N/cm^2$, respectively, and strokes of 170 and 190mm.