• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.980-984
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• 1990

In order to find the optimal control law for the precise trajectory tracking of a robot manipulator, a perturbational control method is proposed based on a linearized manipulator dynamic model which can be obtained in a very compact and computationally efficient manner using the dual number algebra. Manipulator control can be decomposed into two parts: the nominal control and the corrective perturbational control. The nominal control is precomputed from the inverse dynamic model using the quantities of a desired trajectory. The perturbational control is obtained by applying the second-variational method on the linearized dynamic model. Simulation results for a PUMA-560 robot show that, by using this controller, the desired trajectory tracking performance of the robot can be achieved, even in the presence of large initial positional disturbances.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.985-989
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• 1990

This paper presents a fundamental study of a millimeter-sized master-slave robot driven by conduit-guided wires, which is expected to be applied to the delicate surgical operations, the assembling precise and small parts and so on. This system consists of a millimeter-sized slave robot and a master manipulator of which the size is adapted to a human finger. Displacement and torque of the master side can be reduced and transferred to the slave robot by controlling the motor torque against the master torque by feeding back tension signals. The master can feel the tensions by the motor torque. In this paper, the design method and making process of the master-slave system and the dynamical characteristic of displacement and torque control are proposed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.05a
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• pp.1047-1050
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• 2000

As the progress of new industrial products or parts technology, the precise and fine machining technologies are needed more and more. Micro fabrication technology of these products are usally consisted of mechanical machining or MEMS technology. Direct machining by mechanical method is not applicable to mass production. MEMS technology also has several problems such as low mechanical strength, bad surface roughness and difficulty of 3 dimensional machining. In this study, we introduce several micro fabrication technology to make micro molds and dies and our project to develop these machining technology.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.05a
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• pp.681-686
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• 2000

Machining information such as machined form and surface roughness accuracy is an important factor for manufacturing precise parts. To this regard, OMM(On the Machine Measurement) has been issued for last several decades to alternate with CMM. In this research, measuring system consisting of a laser probe is developed for machined form and surface roughness measurement on the machine tool. The obtained machined form accuracy is compared with reference one defined in CAD model. The measured surface roughness data is compared with measured master surface beforehand. Furthermore, using the pre-defined volumetric error map approach compensates the geometric accuracy of the machine tool. The overall performance is compared with CMM, and verified the feasibility of the measurement system.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.1
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• pp.60-68
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• 1998

Parallel link manipulators have an ability of more precise positioning than serial open-loop manipulators. However. general parallel link manipulators have been restricted to the real applications since they have limited workspace due to interference among actuators. In this study, we suggest a closed-loop manipulator with 6 degrees-of-freedom and with enlarged workspace. It consists of two parts for minimizing the interference among actuators. One part is lower structure with planar 3 degrees-of-freedom and the other is upper one with spatial 3 degrees-of-freedom. Forward kinematics and inverse kinematics are solved, research about singularity points are carried out and workspace is evaluated. The comparison of workspace between Stewart platform, which is the typical parallel link manipulator, and the suggested manipulator shows that the workspace of the latter is wider than that of the former. Especially, simulation results also show that the suggested manipulator is more suitable when there needs rotation in the end-effector.

• 한국기계연구소 소보
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• s.18
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• pp.67-74
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• 1988

The force sensor is essentially required in controlling robot manipulator in such applications as precise assembly of mechanical parts, deburring and polishing and various kinds of 6-axis force sensors are developed for these application. This paper presents the algorithm of horizontal assembly of circular cross-sectional workpiece using 3-axis force sensor and procedure to develop the sensor. The sensor is calibrated and tested using AID converter and 16 bit micro computer. The result is $\pm$0.03% FS of zero stability, 0.1%FS of linearity and $\pm$0.05% FS of resolution. The sensor will be used in the research of robot application such as assembly and deburring interfaced with micro computer based robot controller which is under development at the robotics lab.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.2
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• pp.502-511
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• 1994

A video deck mechanism is composed of various cams, links, and gears, and it requires precise movement. So kinematic motion between parts should be considered to get desired movement depending on the timing chart which defines movement of each part to get desired mode. Also dynamic effects should be considered to get right tape tension and to estimate motor force required to obtain accurate motion. The design process of the deck mechanism of VCR is explained briefly. The loading block of the deck mechanism is divided into a tape translational group and a brake control group. Each group is modeled for kinematic and dynamic analysis. Finally, two groups are combined together to analyze the loading block of the deck mechanism. Results are used to understand and modify an existing design.

• Journal of Mechanical Science and Technology
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• v.14 no.10
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• pp.1072-1080
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• 2000

Leakage magnetic flux (LMF) is widely used for non-contact detection of cracks. The combination of optics and LMF offers advantages such as real time inspection, elimination of electrical noise, high spatial resolution, etc. This paper describes a new nondestructive evaluation method based on an original magneto-optical inspection system, which uses a magneto-optical sensor, LMF, and an improved magnetization method. The improved magnetization method has the following characteristics: high observation sensitivity, independence of the crack orientation, and precise transcription of the geometry of a complex crack. The use of vertical magnetization enables the visualization of the length and width of a crack. The inspection system provides the images of the crack, and shows a possibility for the computation of its depth.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.247-247
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• 2000

A new bioelectric impedance measurement method is proposed for the precise measurement of the bioelectric impedance. To obtain the impedance from the known applied a.c. current and the measured voltage signals, a frequency conversion circuit, like the mixer in heterodyne receivers, is introduced to reduce the frequency of the original current. It can be observed from several lines of derivation that the impedance is independent on the amplitude and phase of the mixing signals. This makes it possible to use low-speed analog-to-digital converters and thus utilize cheaper electronic parts in the implementation. The possibility of the method is shown by simulations, and a generic structure applicable to bioelectric impedance measurement devices is also proposed.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2002.02a
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• pp.144-147
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• 2002

In this study, springback analysis of side rear member is carried out. Side rear member is one of the parts which shows severe springback problems. Forming, trimming, flanging and springback stages can be analyzed successively. From forming analysis, we identified the possible spots in which tearing may occur and can prevent failure. In springback analysis we used the boundary conditions same as applied to the blank on the checker so that the computational result can be compared with experimental one. Form .the comparison, springback analysis can yield relatively good results in a qualitative sense. However, in order to get good deformation result quantitatively, there still remains unsettled tasks in the forming analysis with very small die radius. It is found that we have to develop the element with better bending characteristics and precise contact treatment.