• 제어로봇시스템학회논문지
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• 제10권1호
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• pp.73-80
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• 2004

We have developed a general purpose motion controller using an FPGA(Field Programmable Gate Array). The multi-PID controllers and GUI are implemented as a system-on-chip for multi-axis motion control. Comparing with the commercial motion controller LM 629, since it has multi-independent PID controllers, we have several advantages such as space effectiveness, low cost and lower power consumption. In order to test the performance of the proposed controller, motion of the robot hand is controlled. The robot hand has three fingers with 2 joints each. Finger movements show that tracking was very effective. Another experiment of balancing an inverted pendulum on a cart has been conducted to show the generality of the proposed FPGA PID controller. The controller has well maintained the balance of the pendulum.

• 한국정밀공학회지
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• 제29권2호
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• pp.129-138
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• 2012

In this study, three types of large scale multi-tasking machine tools together with core technologies involved have been developed and introduced; a multi-tasking machine tool for large scale marine engine crankshafts, a multi-tasking vertical lathe for windmill parts, and a large scale 5-axis machine tool of gantry type. Several special purpose devices has been necessarily developed for the purpose of handling and machining big and heavy workpieces accurately, such as PTD (Pin Turning Device) with revolving ring spindle for machining eccentric crankshaft pins, hydrostatic rotary table and steady rest for supporting and resting heavy workpieces, and 2-axis automatic swiveling head for high-quality free surface machining. Core technologies have been also developed and adopted on their detail design stage; 1) structural design optimization with FEM structural analysis, 2) theoretical hydrostatic analysis for the PTD and rotary table bearings, 3) box-in-box type cross-rail and octagonal ram design to secure machine rigidity and accuracy, 4) constant spindle rpm control against gravitational torque due to unbalanced workpiece.

• 한국정밀공학회지
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• 제30권5호
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• pp.467-473
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• 2013

Diverse approaches for reducing the total energy consumption of machine tools have been introduced and developed, to cope with rapid increase of total energy costs in world-wide manufacturing industries. To realize the improvement of the energy efficiency, systematic and integrated strategies must be considered, including energy-saving design, optimized control operation and concrete evaluation of the energy efficiency. This paper proposes key enabling technologies required to improve the energy efficiency of 5-axis multi-functional machining tools, considering both of system design and operation in the real production environments. Related standardized procedures of the energy efficiency evaluation is also represented.

• 대한산업공학회지
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• 제17권1호
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• pp.37-49
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• 1991

This report describes an integrated approach to sculptured surface design and manufacture, and a software package for it on a multi-axis NC milling machine. The integrated software consists of four parts : (1) surface fitting procedure for generating the characteristic polyhedron from 3 dimensional CMM data, (2) surface description for generating the mathematical representation of sculptured surfaces. (3) tool path generation for approximating the surface representation into a sequence of linear cutter paths, and (4) tool control for generating the corresponding joint variable values. This integrated approach is generally applicable to sculptured surface manufacturing where multi-axis milling machines are necessary to produce smooth three-dimensional surfaces.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.438-443
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• 2005

Handy paint rollers with simple or no patterns are generally used to transcribe its design to a wall just after painting. However, the types of the patterns are limited to several conventional ones, so that interior planners' or decorators' demands are gradually tending to getting attractive roller designs. In order to obtain abundant kinds of the roller designs, a new advanced 3D machining method should be established for cylindrical models. In this paper, a post-processor that can generate suitable NC data is proposed for multi-axis NC machine tools with a rotary unit. The 3D machining system with the post-processor is also presented for an attractive interior decorating. The machining system allows us to easily transcribe the relief designs from on a flat model to on a cylindrical model. The effectiveness of the proposed 3D machining system using the post-processor is demonstrated through some machining experiments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2006-2009
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• 2005

This paper presents a method for registering images using phase correlation technique in fourier domain, hough transform and multi-resolution wavelet. To register images, source and input images are transformed to wavelet domain. An angular transition can be obtained by applying hough transform technique followed by phase correlation. Then we apply phase correlation technique to find x-axis and y-axis transition. We apply wavelet transform to reduce processing time and also use its coefficients as edge information instead of canny detector. With multi-resolution property of wavelet transform, registration time can be greatly reduced. After we get all transition parameters, we transform the input images according to these parameters. Then, we compose and blend all images into a new large image with details of all source images. From our experiment, we can find the accurate transition both x-y translation and angular transition with less error.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.412-412
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• 2000

This paper presents a task teaching method for off-line programming of a multi-robot system. Teaching commands were developed in order to simplify a complex teaching process, to shorten the setup time for new working environment and to have flexibility for changes in working environment. Four teaching commands can be used to automatically generate trajectories of an end-effector of the robot in electronics assembly line. The robots used in the work cell are a four-axis SCARA robot and six-axis articulated robot. Each robot is controlled in a independent way while objects, working environment and robots are modeled in corresponding modules, respectively. The off- line programming system developed uses OpenGL for a smooth graphic effect in Window s where three dimensional CAD data can be leaded for graphical modeling.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.248-248
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• 2000

본 연구는 조선 소조립, 판넬조립 등의 공정에서 발생되는 필렛 용접 부위의 용접 자동화를 위한 로봇 시스템 개발에 관한 연구이다. 조선등의 중공업 분야에서는 작업이 중량이고 대형임에 따라 로봇이 부재의 특정위치로 이동하여 작업해야 한다. 또한 작업대상의 형상이나 치수가 매번 변경됨에 따라 이에 능동적으로 대처할 수 있어야 한다. 본 연구에서는 두 대의 로봇(2대x6축=12축)이 다축 문형 캔트리(4축)에 장착된 조선용 필렛용접 로봇 시스템(16축)을 개발하였다. 필렛용접부재를 중심으로 두 대의 로봇이 양쪽을 동시에 용접하는 방식으로 고속회전토치를 적용하여 위빙동작없이 원하는 용접각장(Leg Length)을 생성할 수 있다. 캔트리 시스템은 PC 기반의 별도 제어기로 구성하여 두 대의 로봇 제어기와 신호 입출력에 의해 동시동작이 가능하도록 하였으며, 작업장에 놓인 부재의 위치오차를 보장하기 위하여 시각센서를 적용하였다. 용접시작점의 위치보정을 위한 시작점 검출을 위해접촉센서(Touch Sensor)를 적용하였으며, 용접선 추적을 위해서 아크센서(Arc Sensor)를 적용하였다. 본 시스템 2000년 1월 제작 설치가 완료되어 현재 성능 테스트가 완료된 상태로 향후 생산현장에 적용될 계획이다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.1114-1119
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• 1995

This paper presents the development of estimation model and control method based on the new computer vision. This proposed control method is accomplished using a sequential estimation scheme that permits placement of the rigid body in each of the two-dimensional image planes of monitoring cameras. Estimation model with six parameters is developed based on a model that generalizes known 4-axis scara robot kinematics to accommodate unknown relative camera position and orientation, etc. Based on the estimated parameters,depending on each camers the joint angle of robot is estimated by the iteration method. The method is tested experimentally in two ways, the estimation model test and a three-dimensional rigid body placement task. Three results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as assembly and welding.

• 한국정밀공학회지
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• 제15권11호
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• pp.100-107
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• 1998

This paper presents the development of estimation model and control method based on the new robot vision. This proposed control method is accomplished using the sequential estimation scheme that permits placement of the rigid body in each of the two-dimensional image planes of monitoring cameras. Estimation model with six parameters is developed based on the model that generalizes known 4-axis scara robot kinematics to accommodate unknown relative camera position and orientation, etc. Based on the estimated parameters, depending on each camera the joint angle of robot is estimated by the iteration method. The method is experimentally tested in two ways, the estimation model test and a three-dimensional rigid body placement task. Three results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as assembly and welding.