• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.127-128
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• 2013

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.537-538
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• 2013

• 대한임베디드공학회논문지
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• 제3권2호
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• pp.49-56
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• 2008

This paper proposes a PC-based open architecture controller for a multi-axis robotic manipulator. The designed controller can be applied for various multi-axes robotic manipulators since the motion controller is implemented on a PC with its peripheral devices. The accuracy of the controller based on the computed torque method has been measured with the dynamic model of manipulator. Since the controller is implemented in the PC-based architecture, it is free from the user circumstances and the operating environment. Dynamics of the manipulator have been compensated by the feed forward path in the inner loop and the resulting linear outer loop has been controlled by PD algorithm. Using the specialized language, it can be more efficient in programming and in driving of the multi-axis robot. Unlike the conventional controller that is used to control only a specific robot, this controller can be easily changed for various types of robots. This paper proposes a PC-based controller that has a simple architecture with its simple interface circuits than general commercial controllers. The maintenance and the performance of the controller can be easily improved for a specific robot. In fact, using a Samsung multi-axis robot, AT1, the controller performance and convenience of the PC-based controller have been verified by comparing to the commercial one.

• 한국정밀공학회지
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• 제23권5호
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• pp.93-102
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• 2006

This paper proposes a controller design analysis for three-axis CNC systems considering both contouring and tracking performance. The proposed analysis inclusively combines axial controllers for each individual feed drive system together with cross-coupling controller at the beginning design stage as an integrated manner. These two controllers used to be separately designed and analyzed since they have different control objectives. The proposed scheme includes a stability analysis for the overall control system and a performance analysis in terms of contouring and tracking accuracy. Computer simulation is performed and the results show the validity of the proposed methodology. Further, the results can be used as a basic guideline in systematic and comprehensive controller design for multi-axis CNC systems.

• 한국항공우주학회지
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• 제43권8호
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• pp.722-730
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• 2015

궤도천이용 추력기 시스템에 활용되는 다축 핀틀 추력기 시스템의 구동장치 개수 감소에 대한 필요성으로부터 구동장치 연동 메커니즘을 고안하였다. 본 연구에서는 궤도천이용 추력기 시스템의 주요 임무인 압력제어와 추력분배가 가능한 시스템 설계를 위해 구동장치 개수 감소 가능성 확인 모델을 설계하였다. 가능성 확인 모델을 근거로 피스톤을 적용한 연동 메커니즘을 고안하였고, 수치적 근거와 더불어 AMESim을 활용한 시뮬레이션을 통해 3개의 구동장치로 4개의 핀틀 추력기가 구동 가능하다는 결과를 얻었다.

• 한국정밀공학회지
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• 제26권12호
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• pp.55-61
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• 2009

Machining systems have been evolved to produce more detailed products of high added value. This has been possible, in large part, due to the development of highly accurate multi-axis CNC machine tools. The conventional CNC of machine tools has individual axis controllers to maximize tracking performance. On the other hand, cross-coupling controllers can be integrated into the conventional CNC to enhance contouring performance. For this multi-axis cross-coupling control system, it is necessary to automatically adjust the controller gains depending on operating conditions and/or other external conditions from an optimization perspective. This paper proposes automatic modeling of feed drive systems that minimizes the difference in behavior between the system model and the actual system. Based on the modeling, an integrated auto-tuning method is also proposed to improve both tracking and contouring accuracy of a 3-axis cross-coupling control system as well as users' convenience. The proposed methods are evaluated by both simulation and experiments.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 제36회 하계학술대회 논문집 D
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• pp.3072-3074
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• 2005

In this paper, web based monitoring systems are implemented for multi-axis force control systems of an intelligence robot. A web based monitoring system is implemented by porting Linux at embedded systems which include a Xscale processor. A device driver is developed to receive data from multi-axis force sensors in Linux operation systems. To control this device driver, a socket program for the Labview is also developed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1986년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 17-18 Oct. 1986
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• pp.586-591
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• 1986

In this paper, we designed simultaneous 2-axis control system using commercialized custom ICs for positioning and interpolation that is very compact and high reliable. This system is primarily designed for NC system, we verified it is more complete than the other hardware & software based system in its function, control accuracy and cost. Also, this system can be expanded for multi-axis control, it can be applied to the control of more complicated mechanism such as articulated robot.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2000년도 전력전자학술대회 논문집
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• pp.641-644
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• 2000

Recently As the performance of the personal computer has been improving rapidly lots of research for the pc-based numerical computer actively progress in an easy repair maintenance and improving the performance with less cost. This paper presents the design using complex programmable logic device(CPLD). The CPU of Motion Controller that function as the real time control of the independent multi-axis motion the error-detect module and external I/O control made use of 80C196KC, In this paper The PC-NC effectively distributed to the load of NCK(numerical computer kernel) and have the advantage of high speed and precision.

• 대한임베디드공학회논문지
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• 제14권6호
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• pp.339-346
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• 2019

Multi-axis servo systems are widely used in various fields such as industiral systems for improving production efficiency, robotics and complex systems where many mechanical devices and sensor systems are connected. Such a servo system requires that the servo control technique to realize the synchronization of the drive shaft in the steady state and transient conditions and to control so as to follow the target track in order to improve product precision and production efficiency. In addition, embedded type hardware is required for smooth control of the entire multi-axis system. Therefore, this paper uses hardware based on FPGA which is widely used in digital signal processing field and various control system because hardware design change is easy and parallel processing is possible. In addition, Labview based servo motor control program was studied that can control the servo motor by ensuring the performance and flexibility of the FPGA and follow the target trajectory according to various speed processing and accurate timing synchronization.