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스카라 로봇의 오프라인 프로그래밍을 위한 시각정보 보정기법
박창규,손권,Park, Chang-Kyoo,Son, Kwon 대한기계학회 1997 大韓機械學會論文集A Vol.21 No.1
High flexibility and productivity using industrial robots are being achieved in manufacturing lines with off-line robot programmings. A good off-line programming system should have functions of robot modelling, trajectory planning, graphical teach-in, kinematic and dynamic simulations. Simulated results, however, can hardly be applied to on-line tasks until any calibration procedure is accompained. This paper proposes a visual calibration scheme in order to provide a calibration tool for our own off-line programming system of SCARA robots. The suggested scheme is based on the position-based visual servoings, and the perspective projection. The scheme requires only one camera as it uses saved kinematic data for three-dimensional visual calibration. Predicted images are generated and then compared with camera images for updating positions and orientations of objects. The scheme is simple and effective enough to be used in real time robot programming.
박창규(Chang Kyoo Park),구정회(Jeong Hoi Gu),이창섭(Chang Seop Lee),김인주(In Ju Kim) 한국추진공학회 2023 한국추진공학회 학술대회논문집 Vol.2023 No.5
In this paper we showed how to control the speed of BLDC motor with hall sensor which is used for BLDC motor drive. In general, BLDC motor‘s speed is controlled with kinds of speed sensor such as tachometer, resolver. Meanwhile, we used hall sensor as speed sensor to control the fuel supply motor-pump which is composed of BLDC motor and gear pump. The speed acquired from hall sensor is insensitive to noise because hall sensor signal is discrete. At low speed however due to long acquisition time of hall sensor, control performance is degraded. In this paper we showed that it is possible to upgrade control performance at low speed by eliminating deadzone of speed signal with speed prediction model. The speed prediction model can be developed from the model of fuel supply motor-pump and the characteristic of injector.
오리피스 결합형 릴리프 밸브의 적용을 통한 연료공급용 펌프시스템 연료 온도상승 저감 기술 개발
박창규(Chang Kyoo Park),이창섭(Chang Seop Lee),박희승(Hee Seung Park) 한국추진공학회 2023 한국추진공학회지 Vol.27 No.3
The fuel supply pump system using a turbo pump operates with high-pressure fuel pressurized by the turbo pump. The system is a fuel circulating system and the fuel temperature increases continuously due to the heat generated by the turbo pump. The high temperature fuel causes various component malfunction. We develop and analyze an orifice-combined relief valve to reduce the fuel temperature.