• 전자공학회논문지S
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• 제34S권10호
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• pp.71-79
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• 1997

This paper introduces a methodology of the precise control of a mobile/task robot using visual information captured bythe camera attached at the hand of the task robot. The major problem residing in the precise control of mobile/task robot is providing an accurate and stable base for the task robot through the precise control of mobile robot. On account of uncertainties on the surface, the precise control of mobile robot is not feasible without using external position sensor. In this paper, the methodology for the precise control of mobile robot is proposed, which recognizes the position of mobile robot using the camera attached at the hand of the task robot. While the task robot is approaching to an assembly part, the position of mobile robot is measured using the line correspondence between the image capturesd by the camera and the real assembly part, and using the kinematic transformation from the hand of the task robot to the mobile robot. To verify the solidness of this method, experimental data for the measurement of camera position/orientation and for the precise control of mobile robot using measurement are shown.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.475-480
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• 2000

A new positioning mechanism with Parallel type actuator using piezoelectric material and with dual type actuators using voice coil motor (VCM) and piezoactuator is proposed for optical disk drive or near-field recording type drive, and high speed position and vibration control are investigated. Parallel type bimorph piezoactuator is used as a fine motion actuator with self-sensing technique, which allows a piezoelectric material to concurrently sense and actuate in a closed loop frame work, and positive position feedback control algorithm is adopted to further control residual vibration. For positioning control of VCM, PID control algorithm is adopted.

• 한국정밀공학회지
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• 제13권10호
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• pp.154-160
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• 1996

The control of diamond turning is usually achieved through a laser-interferometer feedback of slide position. The limitation of this control scheme is that the feedback signal does not account for additional dynamics of the tool post and the material removal process. If the tool post is rigid and the material removal process is relatively static, then such a non-collocated position feedback control scheme may surfice. However, as the accuracy requirement gets tighter and desired surface cnotours become more complex, the need for a direct tool-tip sensing becomes inevitable. The physical constraints of the machining process prohibit any reasonable implementation of a tool-tip motion measurement. It is proposed that the measured force normal to the face of the workpiece can be filtered through an appropriate admittance transfer function to result in the estimated dapth of cut. This can be compared to the desired depth of cut to generate the adjustment control action in additn to position feedback control. In this work, the design methodology on the admittance model-based control with a conventional controller is presented. The recursive least-squares algorithm with forgetting factor is proposed to identify the parameters and update the cutting process in real time. The normal cutting forces are measured to identify the cutting dynamics in the real diamond turning process using the precision dynamoneter. Based on the parameter estimation of cutting dynamics and the admitance model-based nanodynamic control scheme, simulation results are shown.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.265-268
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• 2005

This paper deals with the optimal design of a permanent magnet linear synchronous motor (PMLSM) with the analysis of prototype PMLSM. In the PMLSM, thrust ripple is one of the causes disturbing high-precision position control. Therefore, Response surface methodology (RSM), one of the optimization methods, is applied to obtain the shape decreasing thrust ripple of the prototype PMLSM. In the end, characteristic analysis of the PMLSM is performed by space harmonic method for shortening of a computation time, and final results is verified by finite element analysis.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.895-898
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• 2003

The higher precision is demanded in modem manufacturing and it requires the more accurate servo controller. Cross-coupling control (CCC) has been developed to improve contouring motion. In this paper we introduce a new nonlinear CCC that is based on contour-error-vector using a parametric curve interpolator. A vector from the actual tool position to the nearest point on the desire path is directly adopted. The contour-error-vector is determined by constructing a tangential vector of nearest point on desired curve and determining the vector perpendicular to this tangential vector from the actual tool position. Moreover, the vector CCC can apply directly and easily to free-form curves include convex and concave form. The experimental results on a three-axis CNC machine center show that the present approach significantly improves motion accuracy in multi-axis motion

• Journal of Advanced Marine Engineering and Technology
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• 제33권5호
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• pp.713-720
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• 2009

Numerous applications of position controlling devices using servoing technique and transmission of energy through belt drives are practiced in the industry. Belt drive is a simple, lightweight, low cost power transmission system. Belt drives provide freedom to position the motor relative to the load and this phenomenon enables reduction of the robot arm inertia. It also facilitates quick response when employed in robotics. In this paper, precision positioning of a belt driven mechanism using a feed-forward compensator under maximum acceleration and velocity constraints is proposed. The proposed method plans the desired trajectory and modifies it to compensate delay dynamics and vibration. Being an offline method, the proposed method could be easily and effectively adopted to the existing systems without any modification of the hardware setup. The effectiveness of the proposed method is demonstrated through computer simulation and experimental results.

• 제어로봇시스템학회논문지
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• 제22권11호
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• pp.952-959
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• 2016

This paper proposes a novel indoor positioning system (IPS) that uses a calibrated camera sensor network and dense 3D map information. The proposed IPS information is obtained by generating a bird's-eye image from multiple camera images; thus, our proposed IPS can provide accurate position information when objects (e.g., the mobile robot or pedestrians) are detected from multiple camera views. We evaluate the proposed IPS in a real environment with moving objects in a wireless camera sensor network. The results demonstrate that the proposed IPS can provide accurate position information for moving objects. This can improve the localization performance for mobile robot operation.

• 한국안전학회지
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• 제24권4호
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• pp.11-16
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• 2009

This research investigates contact angle of Linear Guide Way through a experimental result and theoretical analysis. Since last ten years, most of researchers who concerned with the precision machinery and semiconductor device production etc. so the researches about Linear Guide Way have been unnoticed. The precision machinery and semiconductor device production system has the principle which transfers the mechanical moving to accuracy position control. The Linear Guide Way system has the principle which transfers mechanical moving to accuracy position control is very important to improve performance of the precision machinery and semiconductor device production system. So, In this research, in order to improvement for producing Linear Guide Way, bearing loading analysis and contact angle change through Linear Guide Way theoretical analysis and bearing modeling. Through this study, we may expect that there will be more improvement for producing Linear Guide Way.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1142-1146
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• 2004

The ultra precision linear stage is an essential device in the fields of MEMS and Bio technology. A piezo electric motor is widely used for its better linear characteristics, faster response time, and smaller size than conventional electro-magnetic actuator. We develop a new inchworm type motor to implement an actuator-integrated a long stroke linear stage which can move fast. To implement a servo system, we use a heterodyne interferometer as a position sensor, and we propose a new measurement technique using I/Q demodulator, and we propose a counting method to measure the position of fast moving object with low cost circuitry. The characteristics of the actuator and servo system are evaluated by measuring its displacement with a commercial laser interferometer.

• 한국정밀공학회지
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• 제29권1호
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• pp.79-86
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• 2012

This paper proposes PID and RIC (Robust Internal-loop Compensator) based motion controller using dual learning algorithm for position control of linear synchronous motor respectively. Its gains are auto-tuned by using two learning algorithms, reinforcement learning and neural network. The feedback controller gains are tuned by reinforcement learning, and then the feedforward controller gains are tuned by neural network. Experiments prove the validity of dual learning algorithm. The RIC controller has better performance than does the PID-feedforward controller in reducing tracking error and disturbance rejection. Neural network shows its ability to decrease tracking error and to reject disturbance in the stop range of the target position and home.