http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
매개변수를 이용한 $Labview^{(R)}$ 기반의 3축 SCARA로봇의 이종모션 제어 알고리즘
정원지,주지훈,이기상,Chung, Won-Jee,Ju, Ji-Hun,Lee, Kee-Sang 한국생산제조학회 2009 한국생산제조학회지 Vol.18 No.2
In order to implement continuous-path motion on a robot, it is necessary to blend one joint motion to another joint motion near a via point in a trapezoidal form of joint velocity. First, the velocity superposition using parametric interpolation is proposed. Hybrid motion blending is defined as the blending of different two type's motions such as blending of joint motion with linear motion, in the neighborhood of a via point. Second, hybrid motion blending algorithm is proposed based on velocity superposition using parametric interpolation. By using a 3-axis SCARA (Selective Compliance Assembly Robot Arm) robot with $LabVIEW^{(R)}$ $controller^{(1)}$, the velocity superposition algorithm using parametric interpolation is shown to result in less vibration, compared with PTP(Point- To-Point) motion and Kim's algorithm. Moreover, the hybrid motion $algorithm^{(2)}$ is implemented on the robot using $LabVIEW^{(R)(1)}$ programming, which is confirmed by showing the end-effector path of joint-linear hybrid motion.
정순기,원광희,주지훈,한동석,Jeong, Sun-Gi,Won, Gwang-Hui,Ju, Ji-Hun,Han, Dong-Seok 한국통신학회 2013 정보와 통신 Vol.30 No.10
본고에서는 차량통신을 통하여 차량간 협력을 하여 정보를 교환하는 C-ITS(cooperative intelligent transportation system)를 위한 최신 차량 통신 기술과 개발 현황을 소개한다. 그리고 C-ITS의 궁극적 목표인 차량 주행 안전의 확보와 원활한 교통흐름을 위한 차량 주변 상황 인지 기술에 대한 기술 개발현황을 소개하여 차세대 ITS 시스템의 발전방향을 알아본다.
관측성을 이용한 3축 SCARA Robot의 오차분석을 위한 Monte-Carlo simulation 및 측정
정원지(Won-Jee Chung),주지훈(Ji-Hun Ju),김정현(Jung-Hyun Kim) 한국생산제조학회 2007 한국공작기계학회 춘계학술대회논문집 Vol.2007 No.-
This paper aims at finding out dominant robot configurations with maximal position errors, which can be attributed to the parameter errors, by using Monte-Carlo (based) simulation technique for error analysis of a 3-axis SCARA (Selective Compliance Assembly Robot Arm) type robot. In particular, the Monte-Carlo (based) simulation is used for virtually measuring on the position errors, instead of physical measurement. In order to measure the observability of the model parameters with respect to a set of robot configurations, we propose the observability index which is defined as the product of singular values for error propagation matrices. Thus the index can be used for discriminating dominant robot configurations from a set of simulated ones in conjunction with standard deviation of positional errors, This paper analyzed error by robot positional errror. And measured actuality 3 Axis SCARA types' positional error (Repeatability) of robot.
3-Axis SCARA Robot의 진동저감을 위한 Finite Jerk 기반 속도 제어에 관한 연구
정원지(Won Jee Chung),김정현(Jung Hyun Kim),주지훈(Ji Hun Ju) 한국생산제조학회 2007 한국공작기계학회 춘계학술대회논문집 Vol.2007 No.-
This paper present the result that techniques of velocity control based on Finite Jerk to reduce Vibration of 3-Axis SCARA Robot using AC-servo motor. In case of the high speed motion, jerk (the first derivative of acceleration) is the principle factor of vibration of the robot mechanical part. Therefore we can reduce vibration of 3-Axis SCARA Robot using Finite Jerk (taken trapezoidal acceleration form) by control Jerk duration time. (△t) This paper prpose Finite Jerk velocity profile, apply Finite Jerk to 3-Axis SCARA Robot using LabVIEW<SUP>®</SUP> and NI PXI-7350 Motion Controller. And Robot motion applied Finite Jerk compare vibrations with trapezoidal and S-Curve velocity mode.
초정밀 복합공정 로봇 시스템 핸드부의 처짐 저감 방안 연구
주지훈,정원지 한국공작기계학회 2008 한국공작기계학회 춘계학술대회논문집 Vol.2008 No.-
This paper aims at finding out best design condition by using DOE(Design of Experiment), which is designed to select the optimal preferred facilities for the Decision-Making problems. In particular, The 3-axis Cartesian robot is for handling glass lenses of both digital cameras and cellular phone cameras of which needs are gradually increasing worldwide. The endeffector of robot has a vacuum gripper which can do peg-in-hole simultaneous jobs for 6 non-spherical glass lenses. The repeatability i.e., (±5 ㎛) of an endeffector for peg-in-hole job is of major concern in order to prevent both error motion and interference with 6 cavities. If the end-effector of robot have a big deflection or deformation. This is occurred to problem. so necessary to the Reducing Deflection of Ultra Precision Robot Systems by using DOE.