• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.11
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• pp.1043-1049
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• 2007

Data transfer rate and storage capacity are main criteria of the performance of the optical disk drive. The highest data transfer rate and the largest storage capacity is most desirable. To increase these performances, the actuator of the optical disk drive should have a high servo bandwidth to compensate the vibration of an optical disk. The servo bandwidth is limited by some flexible modes of the actuator, thus it is essential to increase the natural frequencies of the flexible modes. In this paper, we suggested a moving magnet type actuator having high frequencies of the flexible modes. Generally, the moving magnet type actuator has an advantage to increase the natural frequencies of the flexible modes because the moving magnet type actuator has simple structure and the Young's modulus of magnet is high. However, large moving mass and inefficiency of EM(electromagnetic) circuit cut down driving sensitivities of the actuator. To improve driving sensitivities, we designed the model with the closed electromagnetic circuit for tracking direction. In addition, driving sensitivities and the natural frequencies of the flexible modes were improved by using DOE(design of experiments) for electromagnetic circuit and modifying the lens holder.

• Journal of IKEEE
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• v.16 no.3
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• pp.235-243
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• 2012

In this study, we developed two legged multi-joint robot by using wireless servo motor that was applied by wireless sensor network technology, which is widely used recently, and performed an experiment of walking method of two legged multi-joint robot. We constructed the star network with servo motors which were used at each joint of two-legged robot. And we designed the robot for operation by transmission of joint control signal from main control system or by transmission of the status of each joint to the main control system, so it operates with continuously checking the status of joints at same time. We developed the humanoid robot by using wireless digital servo motor which is different from existing servo motor control system, and controlled it by transmitting the information of angles and speeds of robot joints to the motor(node) as a feedback through main control system after connecting power and setting up the IDs to each joint. We solved noisy problem generated from wire and wire length to connection point of the control device by construction of the wireless network instead of using existing control method of wiring, and also solved problem of poor real time response to gait motion by controlling the position with continuous transmission of control signals to each joint. And we found that the effective control of robot is able by performing the simulation on walking motion in advance with the developed control algorithm which was downloaded into installed memory. Also we performed the stable walking with two-legged robot by attaching pressure sensor to robot sole. And we examined the robot gait operated by application of calculated algorithm on robot movement to each joint. In this study, we studied the method of controlling robot gait motion by using wireless servo motors and measured the torque applied to each joint, and found that the developed wireless servo motor by ZigBee sensor network offers easier control of two legged robot gait and better circuit configuration of it than the existing wired control system could do.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.225-226
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.1371-1372
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• 2013

• International Journal of Precision Engineering and Manufacturing
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• v.2 no.2
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• pp.11-16
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• 2001

This paper presents an in self-calibration method to corrent the Z-directional distortion of AFM(Atomic Force Microscopy).

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1072-1075
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• 1993

To design a fuzzy controller for DC servo-motor, a systematic procedure is proposed. Fuzzy rule base is simply designed through utilizing both the PID gain and the pole-zero cancelation. The results of simulation show that the control system has good performances.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.283-284
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• 2009

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.11a
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• pp.479-483
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• 2006

As high-definition television(HDTV) broadcasting were generalized, there have been many researches and developments about large storage capacity and fast data transfer rate in optical disk drives(ODD). Pickup actuators must have high flexible mode frequencies and gain margins. Flexible modes are caused by the flexibility of moving parts in the actuator and a servo bandwidth is limited by them. As a result, the system becomes unstable for high-speed operations in high density reading and recording. In this paper, we suggest improved modeling method that considers the bonding layer. And, flexible mode frequency of actuator is improved by Design of Experiment of lens holder. Magnet circuit is designed considering the relation with moving part. Through improving yoke design, the magnetic flux is changed and DC tilt is reduced. Consequently, we designed actuator which has high flexible mode frequency and gain margins.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.10
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• pp.3186-3198
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• 1996

When a robot is to have contact with its enviornment, such as a medi-care robot, it would be advantageous for the robot to have a high compliance. For this reason, a robot having not only a flexible link but also an actuator with compliance, is desirable. This paper is concerned with the position and vibration control of 1 degree of freedom flexible robot using a pneumatic artificial muscle actuator. The dynamics of the manipulator assumed to be and Euler-Bernoulli beam are derived on the basis of the linear mathematical modle. Although this pneumatic artifical muscle actuator has many merits for the compliance robot, it is difficult to make an effective control scheme of this system because of ths nonlinearity and uncertainty on the dynamics of the actuator. By designing a controller using .mu.-synthesis, robust performance against measurement noise, various modeling uncertainties on the dynamics of the servo valve, actuator and mainpulator, is achieved. The effectiveness of the proposed control method is illustrated through simulations and experiments.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.3 s.174
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• pp.728-734
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• 2000

An asymmetric actuator can be used to reduce the distance between the reflective mirror and objective lens of a small optical disk drive for use in the notebook-sized personal computer data storage devices. However, this asymmetric actuator is very sensitive to the subsidiary resonance which is caused by its rigid body motion. In this paper, an analytical approach using a simple lumped parameter system model is presented with a physical insight to investigate why the subsidiary resonance occurs. The finite element method is used to figure out the force and torque characteristics of the asymmetric actuator which are essential to understand the subsidiary vibration characteristics. The frequency responses are presented to examine how the subsidiary resonance is altered for various situations of having different thickness of a yoke and permanent magnet and of having a different magnet circuit. Finally, the design guidelines to avoid the subsidiary resonance will be presented.