용접 로봇을 위한 Weaving Motion 생성 및 구현에 관한 연구

여희주 대진대학교 1997 大眞論叢 Vol.5 No.-

The main goal of this paper is to derive on-line weaving motion generation algorithm that will make approximate path for any curve by a set of welding parameters in Cartesian space. In addition, the error between the desired and approximate paths are required to be within some prescribed tolerance. To show the validity of the proposed weaving motion generation algorithm, the control system is implemented by using VME-based 32-bit microprocessor board and a realtime multitasking operating system(VxWorks), in which several numerical examples and some experimental results are illustrated.

손목운동 측정을 위한 자기장 센서 데이터의 분석 및 처리 방법

여희주 한국산학기술학회 2020 한국산학기술학회논문지 Vol.21 No.11

As many types of magnetic sensors are widely applied in various industries, the analysis and processing of magnetic sensor data need to be accurate. On the other hand, owing to the complexity of the magnetic field line caused by a moving magnet, the magnetic data generated by magnetic sensors are unpredictably nonlinear. Many industry systems using magnetic sensors have struggled with the nonlinear nature of magnetic sensor data. To reduce the effect of the nonlinearity, they have the target objects fixed firmly. Therefore, to collect accurate and reliable data, considerable efforts have been made to resolve the issues with the expensive tools and systems required. Through this paper, to tackle the issues, the data analysis and methodologies, including intelligent algorithms, are presented for the wrist rehabilitation system using magnetic sensors while being implemented without using expensive tools or systems. On processing magnetic sensor data, this paper adopted an intelligent algorithm, fuzzy logic, and compared the performance of other algorithms for comparison. 다양한 산업분야에서 자기장 센서 기술들을 응용한 제품들이 상용화되면서, 자기장 센서 데이터의 분석 및 처리 방법이 중요하게 되었다. 자기장 센서는 사용하기에는 간편하고 설치에 용이하지만, 자석에 의해 생성되는 복잡한 자기력선 때문에 데이터 처리가 복잡하고, 특히 움직이는 대상에 대해서는 데이터 분석이 거의 불가능할 정도로 복잡하다. 기존의 자기장을 응용한 장비들은 자석이 움직이지 못하게 고정을 하거나, 고가의 장비들을 구입하여 데이터를 처리하는 방식을 사용하고 있다. 따라서, 자기장 센서를 사용하는 장비는 정확한 데이터를 수집하기 위해 수많은 연구가 필요하고, 고가의 장비들이 요구하게 되었다. 본 논문에서는 이런 문제점들을 해결하기 위해서, 소형의 영구 자석과 GMR 센서를 사용하여 손목 재활훈련이나 운동량을 측정하기 위해서 데이터를 처리하는 방법에 대해서 논의를 한다. 특히, 손목 재활훈련에서 발생되는 자기장 센서의 비선형적인 데이터 분석을 하고, 이런 분석을 통해서 데이터를 처리함에 있어서 고가의 장비를 사용하지 않고도 최대의 효과를 낼 수 있는 지능형 알고리즘과 같은 퍼지논리 방법을 제시하고 다른 알고리즘들과 비교하였다.

컴퓨터 비전을 이용한 정밀 측정 시스템에 관한 연구

여희주 대진대학교 첨단소재연구소 2000 첨단소재연구소논문집 Vol.3 No.-

In automated industrial field, various vision system is being developed to automatically carry out complicated and sophisticated tasks. This paper deals with a quality control system classifying various types of parts, detecting errors by finding out the error of measured value in comparison with the standard value of CAD data in realtime, making improvement on the quality of the products through quality tests and the error control. This study also intends to develop machine vision system for measurement through the development of advanced image processing techniques such as sub-pixel, labeling, calibration in older to measure the accurate size(5∼10μm unit) of manufactured goods in on-line.

다중 로보트 시스템을 위한 로보트 제어 언어의 개발 ( Development of a Robot Control Language for Multi-Robot System )

여희주,서일홍,임준홍,김경기 대한전자공학회 1989 대한전자공학회 학술대회 Vol.1989 No.11

용접 로봇을 위한 온라인 경로계획에 관한 연구

여희주 대진대학교 1998 大眞論叢 Vol.6 No.-

In this paper, we develope a new procedure for constructing welding robot trajectory generation by a set of welding parameters in Cartesian space. The procedure uses the theory of B-splines. The motion of the robot, as specified by a time sequence of position and orientation knots of the end effector, is first transformed into sets of joint displacements. And also, robot language is developed to describe a welding task using an are sensor which gives necessory information to correct welding path. To show the validity of the proposed welding robot trajectory generation algorithm, the control system is implemented by using VME-based 32-bit microprocessor board and a realtime multitasking operating system(VxWorks), in which several numerical examples and some experimental results are illustrated.

비대칭 구조를 갖는 두 협조 로봇의 컴플라이언스 제어에 관한 연구 ( A Study on Compliant Control of Cooperating Two Arms with Asymmetric Kinematic Structures )

여희주,이성준,서일홍,이병주 대한전자공학회 1996 대한전자공학회 학술대회 Vol.1996 No.01

비대칭 구조를 갖는 두 협조 로봇의 하이브리드 위치/힘 제어에 관한 연구

여희주,서일홍,이병주,홍석규,김창호 제어로봇시스템학회 1996 제어로봇시스템학회 국내학술대회 논문집 Vol.2 No.10

다중센서 융합에 의한 관리제어 시스템의 설계

여희주 대진대학교 첨단소재연구소 1999 첨단소재연구소논문집 Vol.2 No.-

This paper presents a design experience of a control language for coordination of a multi-robot system. To effectively program job commands, a Petrinet-type Graphical Robot Language(PGRL)and Task-Level Robot Language are proposed, where some functions, such as concurrency and synchronization, for coordination among tasks can be easily programmed. In our system, the proposed task commands of PGRL are implemented by employing formal model languages, which are composed of three modules, sensory, date handling, and action module. It is expected that by using our proposed PGRL and formal languages, one and easily describe a job or task, and hence can effectively operate a complex real-time and concurrent system. The control system is being Implemented by using VME-based 32-bit microprocessor boards for supervisory, each module controller(arm, hand, leg, sensor data processing module) and a real time multi-tasking operating system(VxWorks).

지능형 로봇 시스템을 위한 다중 로봇 제어 시스템의 설계

여희주 대진대학교 첨단소재연구소 1998 첨단소재연구소논문집 Vol.1 No.-

An intelligent robot control system is developed in such a way that it is capable of coordinating dual arm, handling multiple robotic devices and integrating external sensors such as vision and force sensors. Especially, a programming language and a control architecture are designed to allow multiple multi-axis devices to be moved synchronously. And also, task-level robot language are developed for object-oriented task-description and programming. For this, several manipulator-level robot languages are executed for the robot to perform sensor-based motions such as the tracking of moving target and on-line path modification by using F/T sensor. And a task-level robot language interpreter is desinged to translate a task level robot program into a set of manipulator level language. The control system is implemented by using 32-bit microprocessor board and a realtime multitasking operating system(VxWorks), and verified by a practical experament, in which the system control two industrial robot to successfully execute a coordinated-motion and concurrent motion.

비대칭 구조를 갖는 두 협조 로봇의 컴플라이언스 제어방법

여희주,서일홍 대한전자공학회 1996 전자공학회논문지-B Vol.b33 No.7

An unified compliant control algorithm to regulate the force by dual arms is proposed, where tow arms are treated as one arm in a kinematic viewpoint. The force error calculated form the information of two force/torque sensors attached to the end of each arm is transferred to minimum actuator coordinates, and then is distributed to total system actuator coordinates. The position adjustment at the total actuator coordinates is computed based on the effective computed based on the effective compliance matrix with respect to total actuator coordinates, which is obtained by coordinate transformation between the task coordinates and the total actuator coordinates. An experiment is carried out for dual arms with asymmetric kinematic structure to control an interaction force between manipulators and the environment. The performances of the proposed control algorithm are experimentally compared to those of dual arms employing master/slave scheme. The proposed compliant control algorithm not only ouperforms other algorithms, but also can be treated as an unified approach n the sense that it can be applied to arbitrary dual arm systems with general kinematic structures.