• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.107-108
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• 2011

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.10a
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• pp.643-644
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• 2009

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.67-68
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• 2006

In this paper, a new revolute cooperating robot arms with 12 d.o.f was developed for autonomous moving robots. The robot ann was designed to have the load capacity of 10 Kg. For this, a new joint actuator based on the fourbar link mechanism was employed. As a control system for the robot arm, a distributed control system was developed composed of the main controller and five motor controller for the ann joints. The main controller and the motor controller were developed using the ARM microprocessor and the TMS320c2407 processor, respectively. To validate the performance of the robot system, an experiment to support 10 Kg payload was performed.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.375-378
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• 1996

Robot control software is a hard real-time system that must output the planned trajectory points within an explicit short time period. In this paper, we present a design and implementation method for robot control software using commercial real-time operating systems, RTKemel 4.5. Therefore, various robot motions, efficient user interface, and system failure check are easily implemented by using multitasking function, intertask communication mechanism, and real-time runtime libraries of RTKernel. The performance analysis of commercial real-time operating system for robot control is presented based on Timed Petri net(TPN) and we can use these results to design an optimal system.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1781-1786
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• 2003

This research develops a robot as the device which constructs underwater harbour. This construction is to build a breakwater, which is dangerous and difficult. The hydraulic parallel mechanism-typed robot is developed to mechanize the construction by operating of a stoneworker (or diver) through a joystick. The six-dof robot is able to carry 2-3 tons' heavy stone and put it on the surface of breakwater. This paper presents the mechanical design of a miniature robot, its control and application for the breakwater construction.

• Journal of Power System Engineering
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• v.6 no.1
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• pp.96-101
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• 2002

In this paper, we address the problem of controlling an end-effector to track and grab a moving target using the visual servoing technique. A visual servo mechanism based on the image-based servoing principle, is proposed by using visual feedback to control an end-effector without calibrated robot and camera models. Firstly, we consider the control problem as a nonlinear least squares optimization and update the joint angles through the Taylor Series Expansion. And to track a moving target in real time, the Jacobian estimation scheme(Dynamic Broyden's Method) is used to estimate the combined robot and image Jacobian. Using this algorithm, we can drive the objective function value to a neighborhood of zero. To show the effectiveness of the proposed algorithm, simulation results for a six degree of freedom robot are presented.

• Journal of Biomedical Engineering Research
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• v.35 no.3
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• pp.50-54
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• 2014

It is being tried to control robot arm using brain signal in the field of brain-machine interface (BMI). This study is focused on applying guidance laws for efficient robot arm control using 3D coordinates obtained from Magnetoencephalography (MEG) signal which represents movement of upper limb. The 3D coordinates obtained from brain signal is inappropriate to be used directly because of the spatial difference between human upper limb and robot arm's end-effector. The spatial difference makes the robot arm to be controlled from a third-person point of view with assist of visual feedback. To resolve this inconvenience, guidance laws which are frequently used for tactical ballistic missile are applied. It could be applied for the users to control robot arm from a first-person point of view which is expected to be more comfortable. The algorithm which enables robot arm to trace MEG signal is provided in this study. The algorithm is simulated and applied to 6-DOF robot arm for verification. The result was satisfactory and demonstrated a possibility in decreasing the training period and increasing the rate of success for certain tasks such as gripping object.

• Proceedings of the KOSOMBE Conference
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• v.1996 no.11
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• pp.103-106
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• 1996

In this paper, we proposed the design and algorithm of force reflection joystick which control mobile robot as a rehabilitation assistance system. The disabled persons are poor at joystick control because of hand vibration and clumsiness in operating it. These problems bring tasks which concerned with operator's safety So there is required technique which prevent collision with wall or obstacles. One of these solution is force reflection joystick which disturb that robot is closed to the wall. To confirm this way, we experimented and simulated with force reflection joystick which attached torque controller.

• Smart Media Journal
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• v.1 no.1
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• pp.58-63
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• 2012

It is a superordinate concept to a network control system which optimally distributes the battery power to overall length parts through the linkage control drive and absorbs/integrates network diagnostics and overlapped functions with overall length control systems. This study is to develop a system that maximize the battery power and motor effectiveness by controlling motor battery controlling module with common MCU Integration linkage controlling system, and to develop S/W and H/W that can be controlled by linked with each controlling module in CAN method through using Autosar's standardized software.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.708-713
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• 2004

This research develops a sensorless hydraulic servo system of Parallel-Typed robot for harbour construction. Purpose of the robot is to mechanize the construction, which is accomplished through a joystick's operating by a stoneworker (or diver). The robot is attached on the end of an excavator as its attachment or transported by a crane to reach the desired place. The embedded compact controller is installed on the robot body and controlled by wireless telecommunication. For underwater work, it is necessary to waterproof the robot and its sensors. Especially, a sensor waterproof is a main drawback for the underwater robot. This leads us to develop a hydraulic robot position controller using an observer which gives the position information without any position sensor. We design a neural network to identify the displacement change according to the command voltage to servo valve. To verify the sensorless controller, this paper presents the performance of the sensorless control for which the position is given by the observer comparing with that of the sensor control for which the position is measured by LVDT sensors.