• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
• /
• pp.24-29
• /
• 1991

RCCL(Robot Control C Library) is general purpose robot control language. It is programmed with C language and composed of C library. So it is well portable and supports sensor integration control and high level force control algorithms. We implemented RCCL on PUMA. We developed servo controller of DDC(Direct Digital Control). We used intel 8097BH one chip micro controller as CPU. One digital servo board controls three motors. Host computer is IBM PC 386DX-33 with RCCL.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
• /
• pp.714-717
• /
• 1992

An intelligent robot control system is developed, which is based on extensible hardwares and softwares. The system could be used to test advanced and complex real time application programs to avoid constraints on present robot control system in executing a complex or precise algorithms, due to the limitation of hardware and software. In this paper we used the RCCL(Robot Control C Library) on SUN4 as a supervisory system that plays the path planning and man-machine interface. And we used VxWORKS as a real time OS on a VME bus CPU equiped with some interface boards. Two systems were connected through the Ethernet network. We used the 4 axis manipulator, FARA, developed by Samsung Electronics Co.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1992년도 하계학술대회 논문집 A
• /
• pp.422-424
• /
• 1992

In this paper, we are designed a hierachical system controller and builed a robot system for high precision assembly consisting in multi-arms and multi-sensor. For the control of a multi-arms robot system, the robot system are consisted of cell controller, station controller and device. The Operating System of a cell controller is VxWorks for real-time multi-processing. Using by C-language, we are proposed a multi-arms robot control language based a RCCL, and this control language is partially implemented and tested in multi-robot control system.

• 한국임상수의학회:학술대회논문집
• /
• 한국임상수의학회 2008년도 춘계학술대회
• /
• pp.89-89
• /
• 2008

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1996년도 하계학술대회 논문집 B
• /
• pp.1225-1227
• /
• 1996

In this paper, we delelop 4-axis motion controller using TMS320c30 DSP chip and build a 5-axis vertical articulated robot control system. The 4-aixs controller uses a DSP, a high-speed AID and a D/A converter to implement advanced robot control algorithms. The robot control system uses VME-bus and VxWorks realtime multi-tasking operating system. We use RCCL type to implement robot languages.

• 대한수학회논문집
• /
• 제32권1호
• /
• pp.193-200
• /
• 2017

Given a pair p, q of relative prime positive integers, we have uniquely determined positive integers x, y, u and v such that vx-uy = 1, p = x + y and q = u + v. Using this property, we show that$${\sum\limits_{1{\leq}i{\leq}x,1{\leq}j{\leq}v}}\;{t^{(i-1)q+(j-1)p}\;-\;{\sum\limits_{1{\leq}k{\leq}y,1{\leq}l{\leq}u}}\;t^{1+(k-1)q+(l-1)p}$$ is the Alexander polynomial ${\Delta}_{p,q}(t)$ of a torus knot t(p, q). Hence the number $N_{p,q}$ of non-zero terms of ${\Delta}_{p,q}(t)$ is equal to vx + uy = 2vx - 1. Owing to well known results in knot Floer homology theory, our expanding formula of the Alexander polynomial of a torus knot provides a method of algorithmically determining the total rank of its knot Floer homology or equivalently the complexity of its (1,1)-diagram. In particular we prove (see Corollary 2.8); Let q be a positive integer> 1 and let k be a positive integer. Then we have $$\begin{array}{rccl}(1)&N_{kq}+1,q&=&2k(q-1)+1\\(2)&N_{kq}+q-1,q&=&2(k+1)(q-1)-1\\(3)&N_{kq}+2,q&=&{\frac{1}{2}}k(q^2-1)+q\\(4)&N_{kq}+q-2,q&=&{\frac{1}{2}}(k+1)(q^2-1)-q\end{array}$$ where we further assume q is odd in formula (3) and (4). Consequently we confirm that the complexities of (1,1)-diagrams of torus knots of type t(kq + 2, q) and t(kq + q - 2, q) in [5] agree with $N_{kq+2,q}$ and $N_{kq+q-2,q}$ respectively.