• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.969-972
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• 2004

This paper describes the mechanism of parallel micro machine platform and its feedback control system for acquiring high accuracy. The parallel micro machine platform that has developed has 5x5x5 work-space and sub-micron accuracy. For the high accuracy, the feedback control system is important but errors in machining and assembling are inevitable. Kinematic calibration is important for this reason. In this paper, various error components are introduced and the effects of error component are analyzed.

• 전력전자학회논문지
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• 제8권6호
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• pp.585-592
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• 2003

The parallel operation system of UPS is used to increase reliability of power source at critical load. But parallel UPS system has a few defects, impedance is different from each other and circulating current occurs between UPSs, due to line impedance and parameter variation, though controlled by the same synchronization signal. According to such characteristic of parallel UPS, balanced load-sharing control is the most important technique in parallel UPS operation. In this paper, a novel power deviation compensation algorithm is proposed. it is composed of voltage controller to compensate power deviation that be calculated by using active and reactive current deviation between Inverters on synchronous d-q reference frame.

• 한국산학기술학회논문지
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• 제11권3호
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• pp.991-996
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• 2010

본 논문에서는 IEEE 1284 동작 모드를 사용하는 병렬 I/O 제어 시스템을 제안하고 인터넷 환경하에서 원격제어 통신을 실현하였다. IEEE 1284 표준은 다수의 특정한 동작 모드와 호환성이 있는 인터페이스를 정의하며 PC의 병렬 포트에 대해 보다 개선된 성능을 제공한다. 병렬 포트 장치는 Device/ID 식별 절차를 갖는 병렬 포트에 대해 PnP 기능을 제공하게 되는 새로운 운영체제 때문에 시스템 구성과 인터페이스 절차가 간단하게 된다. 이러한 성능 증대로 병렬 I/O 포트는 더욱 저가격, 실용이 간편한 I/O 포트로 가능하게 된다.

• 한국생산제조학회지
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• 제25권5호
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• pp.354-361
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• 2016

Parallel robots are usually used for performing pick-and-place motion to increase productivity in high-speed environments. The present study proposes a high-speed parallel robot and a control approach to improve the tracking performance for the purpose of handling a solar cell. However, the target processes are not limited to the solar cell-handling field. Therefore, a delta-type parallel manipulator is designed, and a ball joint structure is specifically proposed to increase the allowed angle that would meet the required workspace. A control algorithm considering the synchronization between multiple joints in a closed-chain mechanism is also suggested to improve the tracking performance, where the tracking and synchronization errors are simultaneously considered. In addition, a prototype machine with the proposed ball joint is implemented. A satisfactory tracking performance is achieved by applying the proposed control algorithm, with a cycle time of 0.3 s for a 0.1 kg payload.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 ITC-CSCC -1
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• pp.265-268
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• 2002

Parallel-computation is very interesting topic. This paper describes that we apply it into the Boltzmann machine with the Parallel-Transit-Evaluation Method successfully.

• 한국정밀공학회지
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• 제18권7호
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• pp.9-18
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• 2001

• 한국생산제조학회지
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• 제23권5호
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• pp.421-427
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• 2014

In this paper, the kinestatic control algorithm using a six-axis compliant device is presented. Unlike the traditional control methods using a force/torque sensor with very limited compliance, this method employs a compliant device to provide sufficient compliance between an industrial robot and a rigid environment. This kinestatic control method is used to simply control the position of an industrial robot with twists of compensation, which can be decomposed into twists of compliance and twists of freedom. A simple design method of a six-axis parallel-type compliant device with a diagonal stiffness matrix is presented. A compliant device prototype and kinestatic control hardware system and programming were developed. The effectiveness of the kinestatic control algorithm was verified through two kinds of kinestatic control experiments.

• 한국산학기술학회논문지
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• 제7권6호
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• pp.1072-1077
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• 2006

본 논문은 AC 라인 리액터와 2개의 4레그 PWM 전압형 컨버터를 사용하여 병렬 및 직렬 능동필터 기능을 가지는 새로운 3상 Line-Interactive UPS 시스템을 제안하고 전압제어 방식을 설명한다. 제안하는 UPS 시스템의 병렬 및 직렬 PWM 전압형 컨버터에서 전압제어의 목적은 정상상태 및 과도상태에서 만족스러운 동작 특성을 보장하는 것이다.

• 전력전자학회논문지
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• 제21권3호
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• pp.200-206
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• 2016

In the microgrid, inverters for energy storage system are generally constructed in a parallel structure because of capacity expandability, convenience of system maintenance, and reliability improvement. Parallel inverters are required to provide stable voltage to the critical load in PCC and to accurately share the current between each inverter. Furthermore, when islanding occurs, the inverters should change its operating mode from grid-connected mode to stand-alone mode. However, during clearing time and control mode change, the conventional control method has a negative impact on the critical load, that is, severe fluctuating voltage. In this study, a parallel operation control method is proposed. This method provides seamless mode transfer for the entire transition period, including clearing time and control mode change, and has accurate current sharing between each inverter. The proposed control method is validated through simulation and experiment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.730-733
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• 1996

This paper presents the kinematic and dynamic analysis of parallel manipulators with redundant limbs, obtained by putting additional limbs to an existing parallel manipulator. We develop the kinematic and dynamic models of a parallel, manipulator with redundant limbs. The redundancy in parallelism due to the increased number of limbs and the redundancy in actuation due to the increased number of active joints are considered in the modeling. Based on the derived models, we define the kinematic and dynamic manipulabilities of a parallel manipulator with redundant limbs. The effect of the redundant limbs on the performance of parallel manipulators is analyzed in terms of kinematic and dynamic manipulabilities.