• Korean Journal of Construction Engineering and Management
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• v.6 no.4 s.26
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• pp.142-151
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• 2005

Several advanced countries have been continually developed PHC pile cutting automation machines for improving productivity, safety and quality of the conventional PHC pile cutting work. However, the target work of the previously developed PHC pile cutting automation machines is only crushing the head of PHC pile. Dangerous grinding work is still performed by workers with seven inch hand grinder. In domestic construction industry, the PHC pile cutting work is usually performed by a crusher and three to four skilled workers. Recent analysis results of the PHC pile cutting work reveal that it frequently makes a lot of cracks which significantly reduce the strength of the pile and is labor-intensive work. The primary objective of this study is to propose the end-effector which can effectively break PHC pile without any longitudinal cracks and to develop an automated pile cutting machine having unified grinder and crusher parts through a wide variety of laboratory and field tests. It is anticipated that the development of the automated pile cutting machine would be able to bring improvements in safety, productivity, quality as well as cost saving.

• Journal of Bio-Environment Control
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• v.23 no.2
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• pp.123-130
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• 2014

Oriental melon (Cucumis melo var. makuwa) should be cultivated on the soil and be harvested. It is difficult to find because it is covered with leaves, and furthermore, it is very hard to grip it due to its climbing stems. This study developed and tested oriental melon harvesting robots such as an end-effector, manipulator and identification device. The end effector is divided into a gripper for harvest and a cutter for stems. In addition, it was designed to control the gripping and cutting forces so that the gripper could move four fingers at the same time and the cutter could move back and forth. The manipulator was designed to realize a 4-axis manipulator structure to combine orthogonal coordinate-type and shuttle-type manipulators with L-R type model to rotate based on the central axis. With regard to the identification device, oriental melon was identified using the primary identification global view camera device and secondary identification local view camera device and selected in the prediction of the sugar content or maturity. As a result of the performance test using this device, the average harvest time was 18.2 sec/ea, average pick-up rate was 91.4%, average damage rate was 8.2% and average sorting rate was 72.6%.

• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.197-203
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• 2006

This paper addresses dynamic modeling and task-space trajectory following issues for nonholonomic mobile manipulators moving on a slope. An integrated dynamic modeling method is proposed considering nonholonomic constraints and interactive motions. An adaptive neural-fuzzy controller is presented for end-effector trajectory following, which does not rely on precise apriori knowledge of dynamic parameters and can suppress bounded external disturbances. Effectiveness of the proposed algorithm is verified through simulations.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• v.11 no.2
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• pp.302-306
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• 2006

• Proceedings of the Korean Society for Bio-Environment Control Conference
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• 1999.04a
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• pp.30-34
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• 1999

과채류 수확작업은 어렵고 힘든 지루한 작업이 반복적으로 수행된다. 지상 1m내외에서 결과하는 과채류의 경우 수확 중 많은 노동력을 필요로 한다. 특히 오이의 수확은 연속된 단순 반복 작업으로 작업인의 피로도가 매우 높다. 또한 농산물 수입개방으로 값싼 외국산 농산물이 대량 유입되고 있는 실정으로 농산물의 생산비 절감을 통한 대외 경쟁력을 갖추기 위해서는 과채류 수확에 있어서 로봇을 이용한 수확기 개발이 필요한 실정이다. (중략)

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.895-901
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• 1993

This paper present controller designs based on the configuration control framework for a redundant manipulator to accomplish the basic task of desired, end-effector motion, while utilizing the redundancy to achieve the additional tasks such as joint motion control, obstacle avoidance, singularity avoidance. etc. A task based decentralized adaptive scheme is then applied for the configuration variables to track some reference trajectories as close as possible. Simulation results for a direct-drive three-link arm in the vertical plane demonstrate its capabilities for performing various useful tasks.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.551-556
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• 1991

This paper deal with the solution of kinematics and inverse kinematics of industrial FANUC robot by the bisection method with IBM PC 386. The inverse kinematics of FANUC robot cannot be solved by the algebraical method, because arm matrix T$_{6}$ is very complex and 6-joint angles are associated with the position and the approach of end-effector. Instead we found other 5-joint angle by an algebraical method after finding .theta.$_{4}$ value by a bisection method.d.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.149-153
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• 1989

This paper investigates the possibility of applying fuzzy algorithms to the collision avoidance problem of a cylindrical robot moving in a 3-dimensional workspace. The displacement information from the end-effector to the points via which the robot can avoid collisions is given by the human operator. Then this uncertain information is adopted for the fuzzy inference system for robot movements. The robot movement is simulated to verify the effectiveness of the proposed fuzzy algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.211-215
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• 1989

This paper describes a dynamic robotic assembly system in which an industrial robot executes peg-in-hole task in a moving state. As an effective means to synchronize the end-effector of the robot with the moving conveyor this work uses a control algorithm which is essentially a PID position control scheme combined with velocity feedforward loop. A RCC wrist is used for the inserting task and its force responses are investigated for various tracking conditions and inserting velocities through a series of experiments.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.433-437
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• 1988

Direct measurement of the relative position between the end effector of robot and moving objects reduces difficulties caused by the joint encoder reading and transformation. For those purpose, the on-line sensing method using PSD sensor was developed in this paper. The sensor was calibrated on the precision table. Then, the relative position of a moving objects on the conveyor was measured while the robot was tracking the one.