• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.492-495
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• 1997

This paper aims to derive a mathematical model of the dynamics of handling task in field robot which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraints of tight area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of contact-area are discussed. Finally, it is shown that even in the simplest case of dual single D.O.F. manipulators there exists a sensory feedback from sensing data of he rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that he object is of rectangular shape and motion is confined to a horizontal

• Special Issue of the Society of Naval Architects of Korea
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• 2007.09a
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• pp.43-47
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• 2007

In this paper, we will introduce how we utilize 3D design model information at factory automation field with welding robot OLP system which is in using at out shipyard. At this area, so far, most of design information is used in NC data generation for steel cutting, but we can utilize 3D model information at more wide and complex area likes robot welding. Moreover, OpenGL which is a graphic library can be possible to verify robot NC data is correct or not through 3D simulation even if some one is not a expert at robot handling.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.467-468
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• 2016

The importance of the recent manufacturing industry have been made to invest in a lot of assistance and human resource development at the national dimension in which to rise again. However Learned in actual school education kinetic, and the use to how product design structural knowledge, Often it feels vague unlikely whether it is possible to derive an optimal product. In this study, by using the simulation-based Jansen Mechanism designed a walking robot, after optimization of the numerical consideration when designing for optimum walking motion, through simulation through the actual production resulting numerical information is examined whether valid. In addition, through the actual production was walking robot, to verify the validity of the simulation-based design.

• Korean Journal of Computational Design and Engineering
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• v.20 no.3
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• pp.291-297
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• 2015

A water jet cleaning robot system for micro drill bits is to refurbish micro drill bits used for the PCB manufacturing process. It can refurbish drill bits with the minimum diameter of ${\phi}0.15{\sim}0.075mm$ of which the total quantity have been discarded before. Micro drill bits with the minimum diameter of ${\phi}0.075mm$ can be cleaned by applying the water jet cleaning robot system out of the manual ultrasonic cleaning in the past for the cleaning equipment as the initial process in refurbishing. This study analyzed problems, while applying the apparatus mechanism for the workability such as the robot traces of Transfer Robot I and II, drill bit loading and unloading, and cleaning tasks in the water jet cleaning robot system in an effort to carry out simulations. In addition, the cleaning work process was optimized as the work process was verified in advance and the production quantity was analyzed through simulations.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.814-819
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• 2007

Palletizing task is well-known time consuming and laborious process in factory, hence automation is seriously required. To do this, artificial robot is generally used. These systems however, mostly user teaches the robot point to point and to avoid time-variable obstacle, robot is required to attach the vision camera. These system structures bring about inefficiency and additional cost. In this paper we propose task-oriented trajectory generation algorithm for palletizing. This algorithm based on $A^{*}$ algorithm and slice plane theory, and modify the object dealing method. As a result, we show the elapsed simulation time and compare with old method. This simulation algorithm can be used directly to the off-line palletizing simulator and raise the performance of robot palletizing simulator not using excessive motion area of robot to avoid adjacent components or vision system. Most of all, this algorithm can be used to low-level PC or portable teach pendent

• The Journal of Korean Institute of Communications and Information Sciences
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• v.17 no.8
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• pp.856-866
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• 1992

In this paper, the graphic simulation system Is presented which supports the determination of efficient multi-robot motions during cooperation. For the construction of the simulation software for multi robot motions, two problems are described. First problem is that all the robot motions must be determined using both the desired object motions and the holonomic constraints with the object. To find the robot motions combined with the various object motion path, the robot motions are derived from the desired object path instead of a master robot path. There ore, robot motions can be easily modifiable with #he various object motions. This type of motion determination Is different from that of the master-slaves method using the master robot motions.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2007.11a
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• pp.448-449
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• 2007

The PMMA plates with periodic ~200 nm nanosized patterned array were fabricated through the nanoimprint technique with their proper Ni stamper. The computer coding was also made with the Mathematica language software via RCWA (Rigorous Continuous Wave Analysis) and it is confirmed that simulation results are in good agreement with the experimental ones.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.108.3-108
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• 2002

$\textbullet$ Introduction $\textbullet$ trend of walking robot $\textbullet$ Characteristics of waist-jointed walking robot $\textbullet$ simulation $\textbullet$ conclusion

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.6
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• pp.612-618
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• 2009

This study is concerned about the optimal design of the arm 1 and arm 2 in the SCARA robot. The mass and inertia moment of the arm I and arm 2 in a SCARA robot is greatly affected on the performance such as a cycle time, and torques loaded on $1^{st}$ axis and $2^{nd}$ axis. To reduce the mass and inertia moment, this study carried out optimal design by FEM analysis using parametric variables, which is a width, a height of the rib and a thickness of arm in the arm. The rib is adapted instead of reducing the thickness in the arm. And the simulation by computer was conducted on two given paths in X direction and Y direction. After optimal design, the result showed that maximum torque of $1^{st}$ axis and $2^{nd}$ axis reduced to maximum 9.5% on a given path.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.779-782
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• 1997

In this paper, accurate position control of a stenciling robot manipulator is designed. The stenciling robot is requried to draw lines and characters on the pavement. Since the robot is huge and heavy, the inertia is expected to play a major role in the tracking performance as desired. Here we are proposing neural network control scheme for a computed-torque like controller for the stenciling robot. On-line compensation is achieved by neural network. Simulation studies with stenciling robot are carried out to test the performance of the proposed control scheme.