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A Study on Stable Motion Control of Biped Robot with 18 Joints
Youl-Moon Park(박문열),Le Xuan Thu,Jong-Beom Won(원종범),Sung-Jun Park(박성준),Yong-Gil Kim(김용길) 한국산업융합학회 2014 한국산업융합학회 논문집 Vol.17 No.2
This paper describes the obstacle avoidance architecture to walk safely around in factory and home environment, and presents methods for path planning and obstacle avoidance for the humanoid robot. Solving the problem of obstacle avoidance for a humanoid robot in an unstructured environment is a big challenge, because the robot can easily lose its stability or fall down if it hits or steps on an obstacle. We briefly overview the general software architecture composed of perception, short and long term memory, behavior control, and motion control, and emphasize on our methods for obstacle detection by plane extraction, occupancy grid mapping, and path planning. A main technological target is to autonomously explore and wander around in home environments as well as to communicate with humans.
고온 환경 단조 공정자동화를 위한 6축 수직다관절 로봇의 기구학 및 동특성 해석에 관한 연구
조상영(Sang-Young Jo),김민성(Min-Seong Kim),구영목(Young-Mok Koo),원종범(Jong-Beom Won),강정석(Jeong-Seok Kang),한성현(Sung-Hyun Han) 한국산업융합학회 2016 한국산업융합학회 논문집 Vol.19 No.1
In general, articulated robot control technology is limited to the design of robot arm control systems considering each joint of the robot joint as a simple servomechanism. This method describes the varying dynamics of a manipulator inadequately because it neglects the motion and configuration of the whole arm mechanism. The changes of the parameters in the controlled system are significant enough to render conventional feedback control strategies ineffective. This basic control system enables a manipulator to perform simple positioning tasks such as in the pock and place operation. However, joint controllers are severely limited in precise tracking of fast trajectories and sustaining desirable dynamic performance for variations of payload and parameter uncertainties. In many servo control applications the linear control scheme proposes unsatisfactory, therefore, a need for nonlinear techniques that increasing. for Forging process automation.
고열 단조부품 핸들링을 위한 로봇 그리퍼의 방위 및 포지션 정밀제어에 관한 연구
정양근(Yang-Keun Jeong),김민성(Mim-seong Kim),조상영(Sang-Young Jo),원종범(Jong-Beom Won),원종대(Jong-Dae Won),한성현(Sung-Hyun Han) 한국산업융합학회 2016 한국산업융합학회 논문집 Vol.19 No.2
In this paper, we describe a new approch to control method of a four joints-robot gripper for the purpose of parts assemblying. The robot gripper is specifically modeled by using a 3D CAD program (ANSYS), considering artificial grippers, and then the proposed control method is illustrated through the dynamic simulation tool (Adams). Each gripper finger is individually controlled to be located at the optimal positions where the maximal joint torque can be calculated. To verified the effectiveness of the proposed control method, we proposed two cases for the reference position of gripper. By comparing the control performance of two method, the performance of the proposed control method was verified.
모델 변천에 따른 가스터빈 연소기 라이너의 부위별 손상유형 분석
김문영(Kim Moon-young),양성호(Yang Sung-ho),박상열(Park Sang-yeol),김상훈(Kim Sang-hoon),박혜숙(Park Hye-sook),원종범(Won Jong-beom) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.11
High-temperature components of gas turbine operated for certain period of time can be reused by being repaired or rejuvenated. In case of the gas turbine combustion liners, the biggest and the most important one in the high-temperature components, come in a repair shop after operated for 8,000 or 12,000 hours according to the model and go through the repair and rejuvenation in order to be reused. A stated combustion liner is the first channel which has the combustion gas reached a nozzle from a fuel nozzle. Materials and coating properties of old and new model combustion liners were investigated. To repair these components after the visual inspection, the coatings of combustion liners were removed and then FPI(Fluorescent Penetrant Inspection), a kind of the NDI(Non-Destructive Inspection), was conducted. Damage patterns and the number of the damaged components were classified and analyzed based on data provided from the visual inspection over a long period of time. Focusing on the difference between old model and new model combustion liners, we analyzed the damage distribution and changes and consequently concluded that new model combustion liner would increase repair rate.