• Proceedings of the International Microelectronics And Packaging Society Conference
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• 2006.10a
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• pp.75-91
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• 2006

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1994-1999
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• 2003

This paper discusses dynamic characteristics of motion of a pair of multi-degrees of freedom robot fingers executing grasp of a rigid object and controlling its orientation with the aid of rolling contacts. In particular, the discussions are focused on a problem of gain-tuning of sensory feedback signals proposed from the viewpoint of sensorymotor coordination, which consist of a feedforward term, a feedback term for controlling rotational moment of the object, and another term for controlling its rotational angle. It is found through computer simulations of the overall fingersobject dynamics subject to rolling contact constraints that some dynamic characteristics of torque-angular velocity relation may play an important role likely as reported by experimental results in muscle physiology and therefore selection of damping gains in angular velocity feedback depending on the guess of object mass is crucial. Finally, a guidance of gain-tuning in each feedback term is suggested and its validity is discussed by various computer simulations.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1190-1195
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• 2003

In this paper, it is shown how a robot with n passive trailers can be controlled in backward direction. When driving backward direction, a kinematic model of the system is represented highly nonlinear equations. The problem is formulated as a trajectory following problem, rather than control of independent generalized coordinates. Also, the state and input saturation problems are formulated as a trajectory generation problem. The trajectory is traced by a rear hinge point of the last trailer, and reference trajectories include line segments, circular shapes and rectangular turns. Experimental verifications were carried out with the PSR-2(public service robot $2^{nd}$ version) with three passive trailers. Experimental result showed that the backward motion control can be successfully carried out using the proposed control scheme.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.101-106
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• 2003

In the area of tracking control, it is important to design not only the controllers but also the trajectories to which a system has to follow. $5^{th}$ order polynomial is often used with constraints of initial and final states. Smooth ending with possible minimum time is important for many systems because of vibration or jerky motions. Examples are increased with development of technology in smaller, more accurate systems. On the base of a polynomial like trajectory generation method from a paper in ACC2002 and RIC(Robust Internal-loop Compensator) control scheme of Robotics and Bio-mechanics lab. of POSTECH, generalized and expanded polynomial like trajectory generation method is showed.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2696-2700
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• 2003

Nuclear robots should be developed for the reduction of radiation exposure, lower man hours, shorter power outage, and also improved worker safety concerns in performing hazardous and dangerous tasks. Among the components of a nuclear robot system, a robot control system equivalent to a human brain is a crucial point because a nuclear robot does not work without a control system. Therefore, in this paper, we will explain the requirements for a robot control system for a nuclear robot from a general point of view and also review the robot control systems of nuclear robots that were developed domestically, to assist a researcher beginning with the design for the control system of nuclear robots. The explained robot control system will be useful to develop the control system for industrial robots, home robots and other robots which are needed for tele-operation and are controlled through the internet.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.814-819
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• 2004

Soft engineering, based on symbiotic coexistence of human, machines and environment, is a new engineering field to explore the proper technology and the proper way of engineering. To explore soft engineering intents easily, various robot projects at Pusan National University conducted are presented. Thought experiment, interactive e-leaning, rapid prototyping engineering, biomimciry, tangibility, and ubiquity are concepts to be explored. Thought experiments projects are organized and performed, which include robot assembly game, Turing test, and robotics in science fiction. "Junk robot project" and "ubiquitous Pusan National University (u-PNU) project" have been organized. Also, bug robot project, interactive robot project, and interactive emotional robot projects are introduced. Weekly science fiction films are shown and discussed.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1764-1769
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• 1991

Recently, dexterous mechanical hands have become of interest in the field of robotics. In this paper, a new symbolic C-Y notation is proposed for the kinematic modeling, and we solve the kinematics of a simplified model of POSTECH Hand 1, which is a 5 fingered, 20 degrees of freedom anthropomorphic hand. POSTECH Hand I is designed to have distinctive kinematic structure and the kinematic analysis of the hand is carried out using C-Y notation. To prove the feasibility of C-Y notation, D-H notation is also applied to the POSTECH Hand 1. In the inverse kinematic analysis, we neglect the fingertip geometry and assume the point contact with 3 degrees of freedom constraints. The configurations which optimize manipulability index[2] was obtained based on the simulation experiments on the SUN-4 graphic workstation using SUNPhigs graphic software.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.293-297
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• 1993

In this paper, a new design method for Assembly Line Control System(ALCS) is presented. This system consists of five independent modules having their own specific functions such as production management, facility management material management, quality management, and remote control. To implement the ALCS, we propose design of the common data management module(CDMM). This module has the roles of integrating the above five modules and of communicating the common data between them. Using this method, we realize an information management method in the view of CIM. In addition, we standardize the inter-communication of common data between machines having different interface protocols.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.1
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• pp.102-107
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• 2011

In this paper, pole-changing induction motor has been studied. To control the speed of the induction motor, many various methods can be used. Compared to the other speed control method, pole changing method is simple, cost effective, and reliable. From this research, pole changing induction motor with 2 and 4 pole windings are analyzed and designed, of which rated torque is about 2Nm. A real induction motor is also fabricated and some experiment has been performed showing that the analysis and experiment results are similar.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.19-20
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• 2011

본 논문에서는 소형 모바일 로봇의 다개체 제어를 위한 테스트 플랫폼 구축 방법을 소개하고, 제안된 테스트 플랫폼에서 일치제어 알고리듬을 이용한 대형 안정화 및 소형 모바일 로봇들의 군집 이동을 모의 실험하여 그 효용성을 알아본다.