• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 A
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• pp.528-530
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• 1996

Because of the convenience of variable speed control and proportion of input current and torque, DC servo motor has been used as an actuator. With increasing development speed of robot and factory automation machinery, the actuator of excellent control characteristics is demanded. In this paper, The control characteristics of DC servo motor is tested by Fuzzy control with microprocessor and DC servo motor controller is designed for drive of the cartesian coordinate type robot. The control characteristics experimentation is realized to one axis position, two axes coordinate and circular motion control by experimental equipments.

• 전기학회논문지
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• 제67권9호
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• pp.1197-1201
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• 2018

In this paper, a Doppler radar for a localization of a human motion is demonstrated. In the system, we used a $8{\times}8$ phased array antenna using metamaterial phase shifters for easy and precise control of antenna beam pattern. Scanning area is a circular sector with an inscribed angle of $60^{\circ}$ and a diameter of 45m. This area is divided with 15 designated area and each area is scanned for 0.2 second. When there is a motion in a designated area, we are able to detect a frequency shift due to a Doppler effect. In this way it is possible to detect the location of motion. The experiment shows that 78% of position accuracy. The remaining 22% occurred the surroundings of the designated area.

• 한국공작기계학회논문집
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• 제15권6호
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• pp.105-113
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• 2006

This work is concerned with the development of digital contouring controller for multi-axial servosystems. Digital optimal contouring controller is proposed to coordinate each of the controllers of multiple feed drives and specifically improve the contouring performance. The optimal control formation includes the contour error explicitly in the performance index to be minimized. The contouring control is exercised for straight line and circular contours. Substantial improvement in contouring performance is obtained for a range of contouring conditions. Both steady state and transient error measures have been considered. The simulation study presented has established the potential of the proposed controller to improve contouring performance.

• 한국통신학회논문지
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• 제39C권1호
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• pp.47-59
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• 2014

본 논문은 실내 환경에서의 엔터테인먼트 활용을 목적으로 쿼드로터형 비행체를 위한 비전 기반의 궤적 추종제어 시스템을 다룬다. 항공촬영 및 감시 등의 특수임무를 완수하기 위해 자율성이 강조되는 실외 비행체와 비교할 때, 엔터테인먼트를 목적으로 하는 실내 환경에서의 비행체를 위해서는 안정성 및 정밀성이 특히 고려된 호버링 및 궤적추종 기능 등이 요구된다. 이에, 본 논문은 동작생성, 자세추정, 궤적추종 모듈로 구성된 궤적추종 제어시스템을 제안한다. 동작생성 모듈은 매 시간에서의 3차원 자세로 기술되는 동작들에 대한 연속적인 시퀀스를 생성한다. 자세추정 모듈은 비행체에 장착된 원형 링 패턴의 인식을 통해 쿼드로터의 3차원 자세정보를 추정한다. 궤적추종 모듈은 동작생성 모듈과 자세추정 모듈로부터 제공되는 정보를 이용하여 쿼드로터 비행체의 3차원 위치를 실시간적으로 제어한다. 제안된 시스템의 성능은 단일 점 추종, 다점 추종, 곡선궤적 추종에 대한 실험을 통해 평가된다.

• 한국산업정보학회논문지
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• 제12권1호
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• pp.46-53
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• 2007

3축 CNC 공작기계상에서 자유형상의 벽을 가진 자유곡면을 가공할 때 최종 NC (Numerical Control) 코드를 만들기 위한 공구 경로는 효율적으로 결정 되어져야 한다. 단일화된 황삭과 정삭 알고리즘 및 공구경로가 이미 그래픽으로 Part 1에서 시뮬레이션 되었다. 본 연구에서는 Part 1에서 보여진 시뮬레이션 결과를 3축 CNC 공작기계를 이용하여 자유곡면 바닥을 가진 일반적인 파켓 밀링을 위한 직선 보간 및 직선+아크를 혼합한 보간을 위한 NC 공구경로 데이터로 만들어서 3D 격자 항행 알고리즘을 실험하였고 그 효용성을 증명하였다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 추계학술대회논문집A
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• pp.686-691
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• 2001

In this paper, the pneumatic service robot with a hybrid type is developed. A pneumatic has the advantage of good compliance, high payload-to-weight and payload-to-volume ratios, high speed and force capabilities. Using pneumatic actuators which have low stiffness, the service robot can guarantee safety. By suggesting a new serial-parallel hybrid type for the service robot which separates into positioning motion and orienting motion, we can achieve large workspace and high strength-to-moving-weight ratio at the same time. A sliding mode controller can be designed for tracking the desired output using the Lyapunov stability theory and structural properties of pneumatic servo systems. Through many experiments of circular trajectory, the pneumatic service robot is evaluated and verified.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.168-173
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• 2003

In this paper, we will present a deeper look on optimal design methods that are related to path-planning for a mobile robot. To control the motion of a mobile robot in a clustered environment, it's necessary to know a suitable trajectory assuming certain start and goal point. Up to now, there are many literatures that concern optimal path planning for an obstacle avoided mobile robot. Among those literatures, we have chosen 2 novel methods for our further analysis. The first approach [4] is based on HJB(Hamilton-Jacobi-Bellman) equation whose solution is the return-function that helps to generate a shortest path to the goal. The later [5] is called polynomial-path-planning approach, in this method, a shortest polynomial-shape path would become a solution if it was a collision-free path. The camera network plays the role as sensors to generate updated map which locates the static and dynamic objects in the space. Therefore, the exhibition of both path planning and dynamic obstacle avoidance by the updated map would be accomplished simultaneously. As we mentioned before, our research will include the motion control of a true mobile robot on those optimal planned paths which were generated by above algorithms. Base on the kinematic and dynamic simulation results, we can realize the affection of moving speed to the stable of motion on each generated path. Also, we can verify the time-optimal trajectory through velocity tuning. To simplify for our analysis, we assumed the obstacles are cylindrical circular objects with the same size.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.315-316
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• 2006

A new cleaning robot system for live-line tension insulator string was developed to prevent an insulator failure, which can have severe effects on national security as well as national industry and economy. The robot moves along the insulator string using the clamps installed on its two moving frames. Especially, unlike the existing cleaning robots using jets of water or water/air, the robot system adopts dry cleaning method using a rotating brush and a circular motion guide. This robot system has control architecture consisting of a master control unit and two slave control units. We confirmed its effectiveness through experiments.

• 한국정밀공학회지
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• 제14권8호
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• pp.65-72
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• 1997

An asymmetrical cross-coupled compensator to improve the contouring performance is proposed. This is a refinement of the structure suggested by Koren. The position loop is closed with a proportional controller as in the uncoupled system. An additional input term proportional to the component of the contour error along the corresponding axis is included. The controller gains are chosen to give an appropriate frequency response and an optimum range for the damping ratio. The effectiveness of the proposed controller is studied by means of digital simulations of the dynamics of the drives and the controller for 4 types of command trajectories: straight line contour, cornering contour, circular contour, elliptic contour. Substantial improvement in contouring performance is obtained for a range of contouring conditions.

• 제어로봇시스템학회논문지
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• 제8권3호
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• pp.208-219
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• 2002

A novel measurement method to obtain the 6-DOF motions of arbitrary rigid bodies is proposed in this paper. The method adopts a specially fabricated mirror called 3-facet mirror, which looks like a triangular pyramid haying an equilateral cross-sectional shape. The mirror is mounted on the objects to be measured, illuminated by a laser beam having circular profile, and reflects the laser beam in three different directions. Three PSDs(position sensitive detector) detect the three beams reflected by the mirror, respectively. From the signals of the PSDs, we can calculate the 3-dimensional position and orientation of the 3-facet mirror, and thus enabling us to determine the 3-dimensional position and orientation of the objects. In this paper, we model the relationship between the 3-dimensional position and orientation of an object in motion and the outputs of three PSDs. A series of experiments are performed to demonstrate the effectiveness and accuracy of the proposed method. The experimental results show that the proposed sensing system can be an effective means of obtaining 3-dimensional position and orientation of arbitrary objects and provide resonable measurement accuracy.