• ETRI Journal
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• 제27권5호
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• pp.563-568
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• 2005

A motion-control chip contains major functions that are necessary to control the position of each motor, such as generating velocity command profiles, reading motor positions, producing control signals, driving several types of servo amplifiers, and interfacing host processors. Existing motion-control chips can only generate velocity profiles of fixed characteristics, typically linear and s-shape smooth symmetric curves. But velocity profiles of these two characteristics are not optimal for all tasks in industrial robots and automation systems. Velocity profiles of other characteristics are preferred for some tasks. This paper proposes a motion-control chip to generate velocity profiles of desired acceleration and deceleration characteristics. The proposed motion-control chip is implemented with a field-programmable gate array by using the Very High-Speed Integrated Circuit Hardware Description Language and Handel-C. Experiments using velocity profiles of four different characteristics will be performed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.865-870
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• 2003

A motion controller has been used variously in industry such as semiconductor manufacture equipment, industrial robot, assembly/conveyor line applications and CNC equipment. There are several types of controller in motion control. One of these is a PC-based motion controller such as PCI or ISA, and another is stand-alone motion controller. The PC bus-based motion controller is popular because of improving bus architectures and GUI (Graphic User Interface) that offer convenience of use to user. There are some problems in this. The PC bus-based solution allows for only one of the form factors, so it has a poor flexibility. The overall system package size is bigger than other motion control system. And also, additional axes of control require additional slot, however the number of slots is limited. Furthermore, unwieldy and many wirings come to connect plants or I/O. The stand-alone motion controller has also this limit of axes of control and wiring problems. To resolve these problems, controller must have capability of operating as stand-alone devices that resides outside the computer and it needs network capability to communicate to each motion device. In this paper, a network-based stand-alone motion system is proposed. This system integrates PC and motion controller into one stand-alone motion system, and uses CAN (Controller Area Network) as network protocol. Single board computer that is type of 3.5" FDD form factor is used to reduce the system size and cost. It works with Windows XP Embedded as operating system. This motion system operates by itself or serves as master motion controller that communicates to slave motion controller. The Slave motion controllers can easily connect to master motion system through CAN-network.

• 한국소음진동공학회논문집
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• 제15권7호
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• pp.878-884
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• 2005

This paper presents an algorithm for the precision motion control based on the dynamic characteristics of piezoelectric actuators in the inchworm. The dynamic characteristics are identified by the frequency domain modeling technique using the experimental data. For the motion control, the hysteresis behavior is compensated by the inverse hysteresis model. The dynamic stiffness of an inchworm is generally low compared to its driving condition, so mechanical vibration may degenerate the motion accuracy of the inchworm. The Sliding mode controller and the Kalman filter are designed for motion control of the inch-worm.

• 제어로봇시스템학회논문지
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• 제9권12호
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• pp.994-1000
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• 2003

A new relative motion control methodology for a following system to an independent leading system is proposed for controlling relative position, velocity, and tension etc. It is based on maintaining minimum relative error between two independent systems. The control command of the following system to a leading system is generated by adding the current command and the output of the relative error compensation. The proposed control method is implemented on the experimental equipment which is a wire winding-unwinding system to control the tension of the line. The results show the unwinding system(follower) following the independent motion of the winding system(leader) to control the constant tension of the line in order to keep the roller dancer in reference position. The relative motion control method proposed in this paper can be applied to high precision equipment for unwinding and winding fine wire, fine fiber, and tape etc.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문초록집
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• pp.399.2-399
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• 2002

This paper concerns on a non-rotating single-DOF beam-active magnetic bearing(AMB) system subject to arbitrary shaped base motion. In such a system, it is desirable to retain the beam within the predetermined air-gap under foundation excitation. Motivated form this, an adaptive acceleration feedforward control is proposed to reduce the base motion response without deteriorating other feedback control performances. Experimental results demonstrate the effectiveness of the acceleration feedforward control.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.296-300
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• 1992

This paper deals with a dual mode control system design for the starching work robot. From the feature of this work, the robot has redundant degree of freedom. In this paper, we try to split the whole movement the robot into a gross motion part ai. a fine motion part so as to achieve a good tracking performance. The preview learning control is applied to the gross motion part. The validity of the dual mode control architecture is demonstrated.

• IEIE Transactions on Smart Processing and Computing
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• 제5권6호
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• pp.375-382
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• 2016

This paper realizes control of the motion of a swimming robot fish in order to implement an underwater robot fish aquarium. And it implements positional control of a two-axis trajectory path of the robot fish in the aquarium. The performance of the robot was verified though certified field tests. It provided excellent performance in driving force, durability, and water resistance in experimental results. It can control robot motion, that is, it recognizes an object by using an optical flow object-detecting algorithm, which uses a video camera rather than image-detecting sensors inside the robot fish. It is possible to find the robot's position and control the motion of the robot fish using a radio frequency (RF) modem controlled via personal computer. This paper proposes realization of robot fish motion-tracking control using the optical flow object-detecting algorithm. It was verified via performance tests of lead-lag action control of robot fish in the aquarium.

• 대한인간공학회지
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• 제9권2호
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• pp.21-28
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• 1990

The robot motion control in the industrial robot is generally executed by the teach pendant. But, it requires much teaching time and workload to the operators. This study suggests the use of the robot motion control method by the computed keyboard in the industrial robot instead of the teach pendant. TES/CCS(Teaching Expert System/Cartesian Coordinate System) and TES/WCS(Teaching Expert System/World Coordinate System) that have been proposed to improve the robot motion control are applied for this concept. This study is intended to improve the robot motion control in TES/CCS. Parameter limitation problems in getting the motion data on position and posture of the robot in macro motion control are solved by proposed geometric algorithm. This result demonstrates reduction of the average teaching task time to the teaching position.

• 한국전자통신학회논문지
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• 제5권5호
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• pp.493-497
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• 2010

선박의 실시간 좌표변환 구현하였고, DC Servo Motor의 Motion Control 알고리즘을 개발하였다. Servo Control 회로설계 및 PCB를 제작하였고, 이를 3-axis Gyro Sensor based Servo Motion Control 제어장치에 적용하여 시스템을 개발하였다. 또한 선박운동을 시뮬레이터하기 위해서 6자유도를 가진 선박용 시뮬레이터를 개발하였다. 개발된 시뮬레이터에 장착된 카메라를 이용하여 선박운동을 추척하는 시험을 한 결과 원하는 오차내에서 추적결과를 보여주었다.

• 한국정밀공학회지
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• 제26권6호
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• pp.59-67
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• 2009

This paper addresses the control method for skating motion with a nonholonomic constraint. In order to generate a human-like skating motion, the behaviors of motion are distinctively analyzed into transient state and steady state. A close investigation of the behaviors evolved the characteristic of successive motions with transient state and steady state. Simulation results were intuitively comprehensible, and the effectiveness of control method was demonstrated for skating motion.