• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.33-35
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• 2004

In this paper, web based monitoring systems are implemented for multi-axis force control systems of an intelligent robot. Linux operating systems are ported to an embedded system which Include a Xscale processor to implement a web based monitoring system. A device driver is developed to receive data from multi-axis force sensors of intelligent robots. To control this device driver, a socket program for Labview is also developed.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1675-1678
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• 2004

In this paper, web based monitoring systems are implemented for multi-axis force control systems of an intelligence robot. A brief review about the principle of multi-axis force sensors and a method that can reduce the effect of noise signal to sensor performance is presented. A web based monitoring system is implemented by porting Linux at embedded systems which include Xscale processors. A device driver is developed to receive data from multi-axis force sensors in Linux operation systems. To control this device driver, a socket program for web browser is also developed. The experiments are performed to investigate the effectiveness of proposed methods. The experimental results show that the values of force sensors can be monitored by remote PCs.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2674-2676
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• 2004

In this paper, web based monitoring systems are implemented for multi-axis force control systems of an intelligence robot. A web based monitoring system is implemented by porting Linux at embeded systems which include Xscale processors. A divice driver is developed to receive data from multy-axis force sensors in Linux operation systems. To control this device driver, a soket program for web browser is also developped.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.2
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• pp.89-96
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• 2016

This paper describes the design of a force measurement and communication system for the force measuring system in industrial robots. The force measurement and communication system is composed of a multi-axis force sensor and a controller for measuring the forces (x-direction force, y-direction force and z-direction force) and sending the measured forces to the robot's controller (PLC: Programmable Logic Controller). In this paper, the force measurement and communication system was designed and fabricated by using a DSP (Digital Signal Processor). An environment test and a grinding and deburring test using an industrial robot with the force measurement and communication system with three-axis force sensor were carried out to characterize the system. The tests showed that the system could safely measure the forces from the three-axis force sensor and send the measured forces to the industrial robot's controller while the grinding and deburring test was performed. Thus, it is thought that the fabricated force measurement and communication system could be used for controlling the force for an industrial robot's grinding and deburring.

• Journal of Sensor Science and Technology
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• v.20 no.5
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• pp.351-356
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• 2011

Stroke patients should exercise for the rehabilitation of their fingers, because they can't use their hand and fingers. Their hand and fingers are fixed on the hand fixing system for rehabilitation exercise of them. But the hands clenched the fist of stroke patients are difficult to fix on it. In order to fix the hands and fingers, their palms are pressed with pressing bars and are controlled by reference force. The fixing system must have a five-axis force/moment sensor to force control. In this paper, the five-axis force/moment sensor was developed for the hand fixing system of finger-rehabilitation exercising system. The structure of the five-axis force/moment sensor was modeled, and designed using finite element method(FEM). And it was fabricated with strain-gages, then, its characteristic test was carried out. As a result, the maximum interference error is less than 2.43 %.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.3072-3074
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• 2005

In this paper, web based monitoring systems are implemented for multi-axis force control systems of an intelligence robot. A web based monitoring system is implemented by porting Linux at embedded systems which include a Xscale processor. A device driver is developed to receive data from multi-axis force sensors in Linux operation systems. To control this device driver, a socket program for the Labview is also developed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.289-290
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• 2006

In general, atomic force microscope (AFM) used for metrological purpose has measuring range less than a few hundred micrometers. We design and fabricate an AFM with long measuring range of $200mm{\times}200mm$ in X and Y axes. The whole stage system is composed of surface plate, global stage, microstage. By combining global stage and microstage, the fine and long movement can be provided. We measure the position of the stage and angular motions of the stage by laser interferometer. A piezoresistive type cantilever is used for compact and long term stability and a flexure structure with PZT and capacitive sensor is used for Z axis feedback control. Since the system is composed of various actuators and sensors, a real time control program is required for the implementation of AFM. Therefore, in this work, we designed a multi-axis control program using a FPGA module, which has various functions such as interferometer signal converting, PID control and data acquisition with triggering. The control program achieves a loop rate more than 500 kHz and will be applied for the measurement of grating pitch and step height.

• IEMEK Journal of Embedded Systems and Applications
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• v.2 no.4
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• pp.221-226
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• 2007

This paper propose a control network system based on IEEE1394 for a multi body robot control. The IEEE1394 has the characteristic of high speed(400Mbps), real-time, stability and plug&play. And IEEE1394 also supports freeform daisy chaining, branching and hot plugging, which reduce cabling complexity and make a system simple. Especially, multi host and broad casting support network data sharing method which is suitable for control network for multi body robot. Through experiment, we show that the proposed control network can interface 48 joints (BLDC motors, gears, and encoders) and four 6-axis force/torque sensors with 4Khz communication bandwidth, which is adequate for a multi body robot.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.6
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• pp.55-61
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• 2003

Control of multi-link robot arms is a challenging and difficult problem because of the highly nonlinear dynamics. Independent joint adaptive scheme is developed for control of robot manipulators based on Sugeno-type of fuzzy logic. Fuzzy logic system is used to approximate the coupling forces among the joints, coriolis force, centrifugal force, gravitational force, and frictional forces. The proposed scheme does not require an accurate manipulator dynamic, and it is proved that closed-loop system is asymptotic stable despite the gross robot parameter variations. Numerical simulations for three-axis PUMA robot are included to show the effectiveness of controller.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.176-183
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• 2009

This paper proposes command signal generating method for a wearable robot using the force as the input signal. The basic concept of this system pursues the combination of the natural and sophisticated intelligence of human with the powerful motion capability of the robot. We define a task for the command signal generation to operate with the human body simultaneously, paying attention to comfort and ease of wear. In this study, we suggest a basic exoskeleton experimental system to evaluate a HRI(Human Robot Interface), selecting interfaces of arm braces on both wrists and a weight harness on the torso to connect the robot and human. We develop the HRI to provide a command for the robot motion. It connects between the human and the robot with the multi-axis load-cell, and it measures the relative force between the human and the robot. The control system calculates the trajectory of end-effector using this force signal. In this paper, we verify the performance of proposed system through the motion of elbow E/F(Extension/Flexion), the shoulder E/F and the shoulder Ab/Ad (Abduction/Adduction).