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갠트리 로봇의 고속/고정밀 이송을 위한 모션분석 및 앞섬필터 설계
김진대(Jin-Dae Kim),조지승(Che-Seung Cho),이혁진(Hyuk-Jin Lee),신찬배(Chan-Bai Shin),박철휴(Chul-Hu Park) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.1
Recently gantry-type robot with 3 axes rectangular coordinates have been studied in the many industrial production equipment and machinery fields. To acquire a good handling and motion performance of this robot, reducing the settling-time and securing the accurate-transfer positioning under high-speed conditions should be required. However when robot is moved in high-speed, the large inertia of robot can lead to serious vibration of robot"s head. The time-delayed control characteristics of this robot can also lead to tracking error. In this research, the analysis of the effects of higher order positional-profile is carried out to assure high-speed performance and stiffness specifications. To remove the residual vibration caused by kinematic coupling effect of dual-servo gantry, we develop a dual-servo gantry of rotary type that moving frame of x-axis rotates about z-axis. In order to decrease the tracking error, the 3 type lead-filter through system identification was applied respectively. From the experimental results, it was shown that zero-order series leader-filter has the best performance about tracking error and settling time.
광학식 표면측정법을 이용한 치과용 티타늄(Ti) 임프란트(Implant)의 표면토포그래피 평가
손재환(Jae-Hwan Son),조지승(Che-Seung Cho),이영문(Young-Moon Lee),이경문(Kyung-Mun Lee) 한국기계가공학회 2006 한국기계가공학회 춘추계학술대회 논문집 Vol.2006 No.-
Recently, use of Ti has been expanded as material of artificial joint and dental implant due to superior property of bio-suitability. Especially, dental implant requires surface evaluation as it have an important effect on surface structure. It is very important thing to evaluate performance of implant with optical surface measuring method on such a surface state. Surface topography is very useful in surface quality evaluation. It includes the evaluation of surface area, lateral area and surface roughness. In this study surface evaluations were carried out with two kinds of implants, machined and sandblasted after machining. Surface evaluation method using optical three-dimensional surface roughness measuring method is introduced.