• Proceedings of the Korean Operations and Management Science Society Conference
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• 2000.04a
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• pp.36-39
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• 2000

급변하는 소비자의 욕구를 만족시키고 이에 신속하게 대처하기 위해 Agile manufacturing 이나 Flexible manufacturing system에 관한 연구가 활발히 전개되어 왔다. 또한 최근에 급속한 컴퓨터 관련 하드웨어의 발달의 인해 시스템 내부에 사용되는 장비 제어를 PC based controller 로 바꾸려는 움직임이 일고있다. 이러한 PC based controller가 전용 컨트롤러의 모든 기능을 수행하기란 아직은 한계가 있으나 점차 그 사용이 보편화될 것이며, 더욱이 컴퓨터 하드웨어의 놀라운 기술 발전으로 인해 앞으로는 여러 대의 장비를 한 대의 컨트롤러로 제어할 수도 있을 것이다. 본 연구에서는 이러한 환경에 민첩하게 대응하기 위해서 우선 각 장비별로 컨트롤러와의 통신을 위한 message 를 종합하고 이를 체계적으로 분류하도록 하며, 이렇게 분류된 각 message 들이 PC 기반의 콘트롤러에 줄 수 있는 load 를 계산하는 방법을 제시한다. 본 연구를 통해 컨트롤로의 각 장비를 제어함에 있어서 걸리는 작업 부하를 수치적으로 계산해 냄으로써 앞으로 제어할 장비를 무리 없이 컨트롤하기 위한 최적의 컨트롤러를 구성하는데 도움이 될 것이다.

• Journal of the Institute of Convergence Signal Processing
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• v.6 no.4
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• pp.191-197
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• 2005

Biped walking is the main feature of a humanoid robot. In a biped walking robot, there are many actuators to be controlled and many sensors to be interfaced. In this paper, we propose a DSP-based controller for a miniature biped walking robot with 21 RC servo motors. The proposed controller has a hierarchical structure; a host PC, a DSP-based main controller, and an auxiliary controller with an FPGA chip. The host PC generates and transmits the robot walking data for given walking parameters such as stride, walking period, etc. The main controller implemented with a TMS320LF2407A controls 21 RC servo motors via the auxiliary controller. We also perform some experiments for balancing motion and walking on a slope terrain with interfacing a 2-axis acceleration sensor and a TMS320LF2407A.

• Journal of the Institute of Convergence Signal Processing
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• v.5 no.1
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• pp.40-45
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• 2004

This paper presents the parallel distributed control scheme for shaping of the bent glass. The designed system consists of a PC, a main controller and 11 servo-controllers, the precision motion controllers. Each elements are connected by using RS-232C and 8-bit data bus. In order to guarantee the stability and the control performance, we use a precision PID motion controller and a H-bridge on the servo-drivers. PC calculates position values of 11 DC motors by using the pre-determined curvature value and offers the user interface environment operator. The main controller provides the control instructions and parameter values to 11 servo-controllers by chip enable signal, simultaneously. Using the received commands and parameter values, the servo-controllers control the positions of the DC motors based on PID control scheme.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.406-409
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• 1997

An economical 4-axis CNC controller employing step motors is designed and implemented in this paper. By using the inherent ability of holding position of the motor, the CNC controller uses open-loop control for removing trajectory error and for a simple hardware. Each drive of axis has an 8-bit microprocessor 89C52 and a PC controls the axes and pendant by means of RS232C serial communication. Backlash is also compensated at the axis controller. While compensating the backlash, the feed rate becomes zero in order to minimize trajectory error. The trajectories of 16ms interval are computed on PC and are sent to motor drives. In the drives, the trajectories are linearly interpolated for 2ms interval. The developed CNC does not require add-on specific motion card on PC. From the experimental results, the validity of the CNC controller based on step motor is proved.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1732-1737
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• 2004

This paper proposes Internet-based checking technique for machine-tools with variant CNC (Computerized Numerical Controller). According to the architecture of CNC, CNC is classified into two types such as CAC (Closed Architecture Controller) which is conventional CNC, and OAC (Open Architecture Controller) which is a recently introduced PC-based controller. CAC has a closed architecture and it is dependent on CNC vender specification. Because of this, it has been very difficult for users to implement an application programs in CNC domain. Therefore, an additionally special module is required for Internet-based application such as remote checking. In this case, web I/O embedded module can be efficiently applied for Internet-based checking. The module is directly attached to TCP/IP network for communication. In order to obtain the monitoring data of CNC machines, the I/O signals of the module are assigned to PLC (Programmable Logic Controller) input and output (I/O) signals within CNC domain. On the other hand, OAC has a PC-based open architecture and an additional module is not necessary for the connection with external site. Because of this, a simple DAU is just used for signal sensing and data acquisition without additional communication modules. For Internet-based remote checking of machine-tools with OAC, a user-defined daemon and application programs are implemented as the form of internal function within the PC-based controller. Internet communication is performed between the daemon program in CNC domain and web script programs in external server. Checking points defined in this research are classified into two categories such as structured point and operational point. The formal includes the vibration of bearing, temperature of spindle unit and another periodical management. And the latter includes oil checking, clamp locking/unlocking and machining on/off status.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.886-889
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• 2003

In this paper a design of educational robot based on a PC and/or a microprocessor is discussed. The educational robot has 5 DOF and Is made with Swiss Mini Servomotor and Motor Controller IC LM629N. Also, a GUI(Graphical User Interface) is programmed by Visual Basic. This system is completed to consider control properties of the educational robot with 5-DOF that can be changed the parameter of controller by software.

• Proceedings of the KIPE Conference
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• 2000.07a
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• pp.61-65
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• 2000

In this paper We have developed the high-speed controller for haptic control. The proposed controller is based on the PCI/FPGA technology which can calculate the real position and transmit the force data to device rapidly. The haptic system is composed of 6DOF force display device high-speed controller. The developed system will be used on constructing the dynamical virtual environment. To show the efficiency of our system we designed simulation program of force-reflecting. As the result of the experiment we found that the controller has much higher resolution than some other controller It is so efficient in a 1 PC-based system with 1[kHz] haptic interrupt cycle.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.5
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• pp.211-217
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• 2001

In this paper, we have developed the 6 DOF force display system to be based on the single PC. The system is composed of the force display device, the force reflecting rendering algorithm and the high-speed controller. The previous systems had a problem, that must adopt high performance workstation or 2-PC in order to control the graphics speedily and stably. In this paper, it is possible to improve the problem as to develop its exclusive controller and new rendering algorithm. The proposed new rendering algorithm is based on the Proxy algorithm, which can convert information of the position, the velocity, and the haptic information into the force-data. Especially, as to use the proxy algorithm, we can construct dynamical virtual-environment with the elasticity, the viscosity, the mass, and the friction force. As the result of the experiment, we found that our system has much superior characteristics than some other haptic interfaces, because it can control of 30,000 polygon model constructed virtual object with 1[kHz] haptic interrupt cycle and 20[Hz] graphic interrupt cycle in the single PC based system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1240-1243
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• 2004

For agile production methods, manufacturing system requires development of a motion controller which has flexibility of general-purpose motion controller and productivity of specialized-purpose one. In this study we developed the Flowchart Programming development environment for Motion language and Process Control. The controller designed on this environment can be used as a general purpose motion controller of a machining tool. Design of control programming based on a flowchart has the advantage of reducing the time consumed and intuitive interface for users. We create the solution with the Microsoft Visio for the flowchart-based platform and OPC for the process communication..

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2003.10a
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• pp.113-117
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• 2003

In the industrial field nowadays the information that needs to be handled arc increasing and requires faster speed in contrast with PLC(Programmable Logic Controller) or DCS(Distributed Control System) based control systems these days. The work environment these days are mostly based on PC, so the control systems are wanted in PC. At Fieldbus used automated systems performing distributed process control by PC performs and combines into one system in order to maximize the increase of productivity, lower the expense, planning constructing and maintaining the reliance of automation. These latest automation systems unites process, makes distributed control process able, and can control and supervise at remote PC.