• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.49-54
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• 1986

In this paper we deal with a method of controlling PUMA 560 robot manipulator using a newly developed optical proximity sensor and the PDP-11/44 computer. The sensor output is different somewhat depending on an color of the object. The range of sensing vary from 38.4mm to 109.5mm for a real object, 39mm to 111.65mm for yellow, and 40.55mm to 107.25mm for blue. When an obstacle is encountered on the path of end-effector the system acknowledger immediatly the existence of the obstacle : and holds the motion of arm at a given distance. And also the system is capable of making the end effector avoid the obstacle automatically and keep on its motion.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.192-194
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• 2006

Backlash between meshing gear teeth causes impact, tracking error and undesired vibrations. It is usually minimized by precision gear, spring-loaded anti-backlash gears and precise mechanical adjustment. Although these techniques can help to reduce the backlash gap, its cost is relatively high and performance is limited. And the classic controller is insufficient to control the dynamic system with nonlinearity. For these reason, a fuzzy controller is proposed to compensate the backlash effect at a robot system. The input variables are position error and change in error. The output variable can be defined by input voltage of motor. The performance of a fuzzy controller is verified by comparing with a PID controller. The results show that the undesired vibration is suppressed. And then diminishing the position error is observed.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.160-162
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• 2007

The systems for assisted living and convenience of user real-time requirement in data communication among devices. therefore, it system was requirement to implementation of the hardware which guarantees the real-time to load the high-performance processor with suitable Operation System. This paper apply to operated intelligence robot in USN(Ubiquitous Sensor Network) environment, particularly, it is architecture research for guarantees the real-time of a sink-node that collect various sensor information from sensors and sending to main control unit.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.159-159
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• 2000

최근 조선분야의 경우 생산원가의 절감, 품질의 고급화, 단순작업에 대한 근로기피 등의 이유로 로봇시스템 적용에 대한 필요성이 크게 대두되고 있다. 그러나 기존의 로봇 시스템의 교시방식이 교시-재생(Teaching-Playback)방식이어서 작업부재의 형상 및 치수가 매번 변경되는 중공업 분야에서는 적용이 불가능하였다. 본 연구에서는 조선용 아크용접 로봇을 위한 오프라인 프로그램밍(OLP: Off-Line Programming) 시스템을 개발하였다. 오프라인 프로그램밍 시스템의 경우 작업중인 로봇과는 상관없이 다음 부재에 대한 형상 데이터만을 이용하여 컴퓨터상에서 다음 작업프로그램을 미리 생성할 수 있으므로 기존의 온라인 교시-재생 방식의 교시시간의 과다라는 문제를 극복할 수 있다. 본 연구에서는 강교 판넬 및 조선 소조립용으로 개발 중인 아크용접용 로봇 시스템을 위한 오프라인 프로그래밍 시스템을 개발하였다. CAD 데이터나 OLP의 모델링 기능으로 작업부재를 형상한 후 미리 데이터베이스화 되어 있는 자료를 검색하여 부위별 작업매크로 확보를 위하여 실제 로봇 시스템을 이용한 작업테스트를 수행하였다. 개발된 오프라인 프로그래밍 시스템은 기능보완 후 당사 아크용접용 로봇시스템에 적용될 계획이다.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.248-248
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• 2000

본 연구는 조선 소조립, 판넬조립 등의 공정에서 발생되는 필렛 용접 부위의 용접 자동화를 위한 로봇 시스템 개발에 관한 연구이다. 조선등의 중공업 분야에서는 작업이 중량이고 대형임에 따라 로봇이 부재의 특정위치로 이동하여 작업해야 한다. 또한 작업대상의 형상이나 치수가 매번 변경됨에 따라 이에 능동적으로 대처할 수 있어야 한다. 본 연구에서는 두 대의 로봇(2대x6축=12축)이 다축 문형 캔트리(4축)에 장착된 조선용 필렛용접 로봇 시스템(16축)을 개발하였다. 필렛용접부재를 중심으로 두 대의 로봇이 양쪽을 동시에 용접하는 방식으로 고속회전토치를 적용하여 위빙동작없이 원하는 용접각장(Leg Length)을 생성할 수 있다. 캔트리 시스템은 PC 기반의 별도 제어기로 구성하여 두 대의 로봇 제어기와 신호 입출력에 의해 동시동작이 가능하도록 하였으며, 작업장에 놓인 부재의 위치오차를 보장하기 위하여 시각센서를 적용하였다. 용접시작점의 위치보정을 위한 시작점 검출을 위해접촉센서(Touch Sensor)를 적용하였으며, 용접선 추적을 위해서 아크센서(Arc Sensor)를 적용하였다. 본 시스템 2000년 1월 제작 설치가 완료되어 현재 성능 테스트가 완료된 상태로 향후 생산현장에 적용될 계획이다.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.40 no.5
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• pp.299-307
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• 2003

The local structure of CMAC neural networks (NN) results in better and faster controllers for nonlinear dynamical systems. In this paper, we propose a CMAC NN-based disturbance observer and its corresponding controller for a flexible joint robot. The CMAC NN-based disturbance observer compensates for the parametric uncertainties and the external disturbances throughout the entire mechanical system. Finally, a simulation result is given to demonstrate the effectiveness of proposed design method's robust tracking performance.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.16 no.6
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• pp.37-42
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• 2007

The purpose of this research is stability estimation of plant structure through classification and recognition about welding flaw in SWP(Spiral Welding Pipe). And, In this research, we used nondestructive test based on ultrasonic test as inspection method, and made up 2-axes inspection robot in order to control of ultrasonic probe on the SWP surface, and programmed to image processing and probabilistic neural network(PNN) classifying code by MATLAB programming. Through this process, we proved efficiency on the system of SWP stability Estimation.

• Proceedings of the SAREK Conference
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• 2007.11a
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• pp.600-605
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• 2007

In this study, the risk rates of different contamination sources of the Foreign material in a minienvironment were analyzed through CFD simulation. From the results, the ambient contamination sources mainly affect wafers in the FOUP, whereas the internal contamination sources mainly affect wafers laid on the robot arm in the minienvironment. And the purging plenum system is very useful in protecting the wafers in the FOUP from Foreign materials transferred from the FFU. However, this system is unable to protect the wafers on the robot arm from internal Foreign materials and the wafers in the FOUP from sources of the interface between the FOUP and the minienvironment.

• 전자공학회논문지 IE
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• v.45 no.4
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• pp.42-46
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• 2008

LED's production does Die bonding and Wire bonding on L/F board, and do epoxy dispensing to protect LED Chip and improve brightness. In this paper, we propose and realize a x-y-z axis robot mechanism detecting automatically eopxy's amount being filled, control data of pressure and time by the quantity automatic revision, and epoxy of the schedule amount dispensing.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.30.5-30
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• 2001

This paper describes a new design of blimp having wheeled vehicle part. This system can work both on the ground using wheeled vehicle and in the air using the floating capability of the blimp part. The passive wheeled mechanism in the vehicle part enables the stable taking off, landing on as well as it is greatly helpful to keep a stationary position on the floor. On the other hand, the floating capability enables the wheeled blimp to fly freely regardless of the ground condition or obstacles. The wheeled blimp can be used as an agent robot for the tole-presence application. Using multimedia devices such as camera, speaker, LCD and microphone mounted on the blimp surface, this system can get necessary information at the local site and communicate with person from a distance. As a typical tele-presence application, the wheeled blimp is currently being developed to a tole-guidance robot working in public indoor areas such 35 exhibition halls, departments, hospitals, etc ...