• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1387-1391
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• 2003

The fundamental aim of this paper is to present a solution algorithm to achieve cooperative contour controlling, under joint acceleration constraint with maximum cooperative speed. Usually, the specifications like maximum velocity of cooperative trajectory are determined by the application itself. In resolving the cooperative trajectory into two complementary trajectories, an optimum task resolving strategy is employed so that the task assignment for each robot is fair under the joint acceleration constraint. The proposed algorithm of being an off-line technique, this could be effectively and conveniently extended to the existing servo control systems irrespective of the computational power of the controller implemented. Further, neither a change in hardware setup nor considerable reconfiguration of the existing system is required in adopting this technique. A simulation study has been carried out to verify that the proposed method can be realized in the generation of complementary trajectories so that they could meet the stipulated constraints in simultaneous maneuvering.

• 한국기계가공학회지
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• 제5권1호
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• pp.39-44
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• 2006

Ultra precision positioning mechanism has been widely used on semiconductor manufacturing equipments, optical spectrum analyzers and cell manipulations. Ultra precision positioning mechanism consists of several actuators, sensors, guides and control systems. Its efficiency depends on each performance of components. The object of this study is to design and analyze the micro stage that is one of the equipments embodied in ultra precision positioning mechanism. The micro stage consists of PZT actuators and flexure hinges. The structural design of flexure hinge is optimized by using RSM and FEM. The control factors concerned with the design of flexure hinges of stage and arms are optimized by minimizing the equivalent stress on the hinge and maximizing 1st natural frequency based on RSM and FEM simulation under various kinds of design conditions.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.180-185
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• 2003

In order to enhance dexterity in execution of robot tasks, a redundant number of degrees-of-freedom (DOF) is adopted for design of robotic mechanisms like robot arms and multi-fingered robot hands. Associated with such redundancy in the number of DOFs relative to the number of physical variables necessary and sufficient for description of a given task, an extra performance index is introduced for controlling such a redundant robot in order to avoid arising of an ill-posed problem of inverse kinematics from the task space to the joint space. This paper shows that such an ill-posedness of DOF redundancy can be resolved in a natural way by using a novel concept named “stability on a manifold”. To show this, two illustrative robot tasks 1) robotic handwriting and 2) control of an object posture via rolling contact by a multi-DOF finger are analyzed in details.

• Journal of Advanced Marine Engineering and Technology
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• 제20권1호
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• pp.37-43
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• 1996

This paper presents a new control scheme for decoupling the dynamics of two coordinating robot manipulators. A simple full-state feedback scheme with configuration dependent gains can be devised to decouple the system dynamics such that the dynamics of each arm and that of an object held by the two arms is independent of one another. A condition for stability is shown. The advantage of the proposed scheme is that the same control scheme can be applied both for the closed kinematic chain(object-grasping) case and open kinematic chain(no object-grasping) case.

• 한국군사과학기술학회지
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• 제10권4호
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• pp.138-144
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• 2007

This paper introduces the design techniques of an IR module using the 2-D array un-cooled type infrared detector which is applied to the individual combat weapon. Considering the size and weight of the hand carried weapon system, we used a very small-sized detector and applied an adaptive temperature control algorithm so that the operation consumed with low power can be possible. We applied the AR(Auto Regressive) filter to improve the signal-to-noise ratio in a thermal image processing step. We also applied the plateau equalization and boundary enhancement techniques to improve the visibility for human visual system.

• 제어로봇시스템학회논문지
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• 제5권8호
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• pp.955-960
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• 1999

This paper describes the effect of impact configurations on a single robot manipulator. The effect of different configurations of kinematically redundant arms on impact forces at their end effectors during contact with the environment is investigated. Instead of the well-known impact ellipsoid, I propose an analytic method on the geometric configuration of the impact directly from the mathematical definition. By calculating the length along the specified motion direction and volume of the geometry, we can determine the characteristics of robot configurations in terms of both the impact along the specified direction and the ability of the robot withstanding the impact. Simulations of various impact configurations are discussed at the end of this paper.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.51.4-51
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• 2001

In order to comprise a basic closed-loop control system for a field robot it is necessary to detect the piston rod stroke of a hydraulic cylinder. There are mary conventional type sensors which can detect the displacement of cylinders. However, they cannot reveal the original performance normally or the cannot be applied at all where the operating circumstance of cylinders is beyond specifications of sensors. In this paper, an exclusive method for detecting the piston rod stroke is suggested, which adopts a remote detecting technique using optical fiber sensors. Several experiments using the prototype are executed for verifying the effectiveness of the suggested method and the possibility of the accurate detection of stroke.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.166.4-166
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• 2001

The oscillation of a crane system is divided into the oscillation of container in respect of its trolley and the oscillation of trolley in relation to the whole crane system. We introduce a new type of crane system that avoids to the irreducible sway of crane system caused by hanging cables. The cables suspending the spreader are replaced by using an "anti-sway system". The proposed system is composed of mechanical arms with function of anti-sway based on conventional line system. The effectiveness of the proposed new type crane system and the controller is shown through the simulation results.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.104.3-104
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• 2002

A quadruped stair robot introduced here plays a role in monitoring and moving some place where an operator can not reach or when he may not keep watching. It has several features that travels and poses variable position by four caterpillars and quadruped typed arms, transmits an image and command data via RF wireless and network communication. The robot can balance itself when it moves up and down on a slope by using the quadruped mechanism. The robot vision scans ahead before it moves, and the captured image is transferred to a main computer via a RF image module. The main computer analyzes the obstacle, and when it is found the obstacle, the robot avoids from the obstacle and keep moving f...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.105.4-105
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• 2002

The development of a teleoperated mobile robot, Kaerot/m2, has been described. Kaerot/m2 consists of three subsystems - a 4 wheeled mechanism with the dual reconfigurable crawler arms, a thermal image monitoring system , and an extendable long reach mast. The mechanical design, control system of Kaerot/m2 in terms of remote inspection operation at a high radiation level of the Calandria face environment has been shown. Kaerot/m2 is capable of detecting the degraded locations of the Calandria face in a remote manner.