• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.56.2-56
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• 2002

A dye process of textile industry is important part that finally gives required quality to the textile material. To produce a proper dye for the customers, color management that precise color measurement from original color sample and rapid estimation of corresponding color recipe is most essential. In the practical dye manufacturing process, color management falls into two categories. First one is color management with an expert knowledge of colorist, the other one is computer aided way. In the former management way, color management fully depends on colorists' expert without support of the measurement and computational devices. Objective color management is impossible in this way. The...

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.606-610
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• 1991

A relay is the one of small electrical components for automobiles and used for industry widely. We have developed the automation system for relay assembly and test to make it improve the productivity and decrease the man power. In order to determine the objective process of automation, we investigated 6 small and medium sized-enterprises and 1 greate sized-enterprise producing relays. And, we selected 2 model enterprises of them. One of the two is the system to develop. The scope of our study is the analyse of the conventional workcell, the determination of the system specification, the design of the system layout, the determination of the system cycle time, the design of the system mechanism, and the development of the controller for the system. We think that the developed system may be solve the technical and the economical problems interrupted efficiential automation of domastic small and medium sized-enterprises, and improve the international competitive power.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.1028-1032
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• 1988

The purpose of this paper is the development of a fully integrated simulation package for industrial robot. The simulation package consists of kinematics, dynamics, and control. The kinematics contains trajectory plans and inverse kinematics. The dynamics combines manipulator dynamics and actuator dynamics including the effect of payloads and viscous frictions. The control is a hardware oriented scheme which contains position controller, velocity controller, current controller, and PWM generator. Thus, the simulation package can be used not only for theoretical purposes but also for development purposes in industry. Using this package, the characteristics and performances of the SCARA robot, which has been developed in GSIS, are investigated.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.832-837
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• 1991

After many years of proliferation, the nuclear industry is indebted for a formidable consequence, the safe management of spent fuel. Naturally, the high radioactivity involved with such process motivates the development of effective telerobotic systems. Nevertheless, the existing master-slave type of tele manipulators are limited in effectiveness by the human operator's limited sensory and manipulation capabilities. This paper presents the result of a research effort to resolve such problems by assigning the slave manipulator a certain degree of intelligence; sensing and actuation. In the presented system, a perception-action loop is achieved using ultrasonic range sensor and laser distance sensor interfaced with the PUMA 760 industrial robot system, and applied to automating impact wrenching task for unbolting the lid of nuclear spent fuel cask. The perception-action loop performs determination of the cask location, collision avoidance and centering of the impact wrench onto the bolt head. To aid the insertion task and to provide versatility a mounting module consisting of an RCC device and an automatic tool changer is designed and implemented. The performance of the developed system is tested on the model cask and the result is given.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.643-648
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• 1988

A strapdown inertial navigation system fabrication utilizing dynamically tuned gyroscope was finished as a first stage development. So it's design, fabrication and tests are reported. Although this system lacks in accuracy compared with the cimballed system, factors such as low cost, small size and lightness make it useable in wide range of applications. The initial cost for investment is relatively cheap, and so it is best suitable for local development in various kind of inertial navigation system. Since all of the locally used systems are imported and even with it's close relation to the military, foreign technical transfer is practically non-existent. The independent local development of such system at a time of domestic initation in aerospace and defense industry, can be seen as a significant milestone in the advancement of the inertial navigaion system field.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.348-352
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• 1992

At present, the manufacturing industry is in a process of great change of circumstances like meeting demands to involve a great variety of types and shorter product life and thus more flexible manufacturing. These changes cause the larger number of different tools and frequent tool changes, which lead to the considerable losses in productive time and the high amount of capital tied up in the tool area. In our country, for the most part, the individual tool are still being presetted according to a data sheet and the measured values are entered, output in a list manually or via punched tapes. This usually takes a considerable amount time and lead to a high error rate. This paper describes a computer controlled tool data management system combined with the bar code tool identification labeled on cutting tools.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1200-1203
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• 1990

Recently, the CAD/CAM system to automatically design and process are used in almost every industry world. We designed an original digitizer system to digitize a real size car drawing. We succeeded in the development of super large size Laser Digitizer System (LDS) which has input area of 2m by 6m, resolution of 0.1mm and accuracy of .+-.0.5mm. This Laser Digitizer System can use in design of cars, ships, planes and big maps. Also can use in sensing the position of nozzle head of laser processing system, and so on.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1420-1423
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• 1990

DC series motor has been widely applicated in industry due to many advantageous characteristics, such as high starting torque, easy construction of its controller, and cost economy, etc.. However, by high starting current, excessive surge voltage, and so on, many problems which could make engineers relinguish to use it are induced. In this paper, various protection methods for power circuit are discussed. Particularly, a new proposed snubber circuit which consists of two diodes, one capacitor, and a resistor increases the performance with respect to the suppression of the surge voltage. Furthermore, the plugging algorithm, by checking the armature current and voltage and controlling the field coil current, is designed and implemented. Also, these methods and algorithms were applicated in electric vehicle, and we could find its stability to be considerably improved.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.414-418
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• 1986

Although the use of NC machine is increasing in modern industry, unfamiliarities of the NC program syntax do not allow us to program it easily. So, automatic programming systems, such as APT, COMPACT, CL, were developed to help the uninitiated to write NC program easily. In this research, Korean Automatic Programming System for 2-axis NC lathe is developed, by which NC program is easily programmed using Korean letters. In addition, Graphic Debugger for 2-axis NC lathe is developed for debugging the NC program error and animating the cutting process. The above systems are run on the IBM-PC/XT.

• Journal of Advanced Marine Engineering and Technology
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• v.33 no.5
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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.