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A Study on Modeling of Pneumatic System for an IDC Device
C. T. Nguyen(웬치탄),Q. H. Le(레광환),Y. M. Jeong(정영만),S. Y. Yang(양순용) 유공압건설기계학회 2015 드라이브·컨트롤 Vol.12 No.3
An intelligent deburring control (IDC) device is used to control the constant force for a deburring tool mounted on the end-effector of a robotic arm. This device maintains a constant contact force between the deburring tool and the workpiece in order to provide a good deburring performance. In this paper, we build a mathematical model in Matlab/Simulink to estimate the force control mechanism of the pneumatic system for the IDC device. The Simulink blocks are built for each separate part and are linked into an integrated simulation system. Such a model also relies on the effects of the flow rate through the valve, air compressibility in the cylinder, and time delay in the pressure valve. The results of the simulation are compared to a simple experiment in which convenient math modeling is performed. These results are then used to optimize the mechanical design and to develop a force control algorithm for the pneumatic cylinder.
A Study on Modeling of Pneumatic System foran IDC Device
C. T. Nguyen(웬치탄),Q. H. Le(레광환),Y. M. Jeong(정영만),S. Y. Yang(양순용) 유공압건설기계학회 2015 유공압건설기계학회 학술대회논문집 Vol.2015 No.6
IDC (intelligent deburring control) device is used to control constant force for deburring tool mounted on end-effector of robot arm. This device is to maintain a constant contact force between deburring tool and workpiece in order to guarantee good deburring performance. In this paper, we build a mathematical modeling on Matlab/Simulink for estimating the force control mechanism of IDC device’s pneumatic system. The Simulink blocks are built for each separated part, and linked into an integrated simulation system. Such model is also built basing on effects of flow rate through the valve, air compressibility in cylinder, time delay of pressure valve. The simulation results are compared with the some simple experiment aiming to perform convenient math modeling. Basing on these results we will optimize mechanical design and develop the force control algorithm for pneumatic cylinder.
A Study of Stability for Field Robot using Energy Stability Level Method
C. T. Nguyen(웬치탄),Q. H. Le(레광환),Y. M. Jeong(정영만),S.Y. Yang(양순용) 유공압건설기계학회 2014 드라이브·컨트롤 Vol.11 No.3
In this research, the energy stability level method is used for examining the stable state of Field Robot under effects of swing motion, at particular postures of manipulator, and terrain conditions. The energy stability level is calculated by using the dynamic models of Field Robot, subjected to the concept of equilibrium plane and support boundary. The results, simulated by using computing program for estimating the potential overturning of Field Robot, supply useful predictions of stability analysis for designers and operators.
Unified Approach for Force/Position Control in the Car Body Sanding Process
C.T. Nguyen(웬치탄),J.W. Lee(이재우),S.Y. Yang(양순용) 유공압건설기계학회 2017 유공압건설기계학회 학술대회논문집 Vol.2017 No.5
This paper present a methodology for simulating the unified approach that controls the interaction force between the tool and objective by using synthesis method of robot interacting control law for stabilizing the transient process of motions. The root locus is used to analyze the stabilization of motion deviation characteristics. Basing on the responses of motion deviation, the contact force is derived to satisfy the exponential stability and we generate the control input respect to motion trajectories and interaction force. Moreover, the simulation will be applied to experimental application of Cartesian robot driven by two stepper motors, the noises of feedback signals will be considered as presence of system inaccuracies, and the unified approach of interaction force controlwill be examined perfectly.
김태운(T. U. Kim),오지우(J. W. Oh),웬치탄(C. T. Nguyen),김용석(Y. S. Kim),우경행(K, H, U),양순용(S. Y. Yang) 유공압건설기계학회 2015 유공압건설기계학회 학술대회논문집 Vol.2015 No.6
Nowadays, the important selection criteria of the car customers are design and performance. Painting is an important element to finish the design of a car. Manufactures have been built an automated painting system by robots. However, the checking process of the vehicle’s panting surface is only conducted by human so the vehicle production line is not completely automatic manufacturing. In this study, we design an automated checking system for vehicle’s surface painting. In this system, industrial robots which their end-effectors are attached cameras are placed along of the product line. When the robotics move the cameras across the vehicle’s body surface, the vision system will track the quality of the surface to detect the painting defects. Therefore, the system can obtain many benefits for the production line such as reducing the working time, decreasing defect rate, saving modified cost. Moreover, it can improve the accuracy of the inspection and the reliability of the company by reducing the claims from the consumer.
진공 시스템을 위한 수유분 미스트 포집 시뮬레이터 개발에 관한 연구
오지우(J. W. Oh),김태운(T. W. Kim),웬치탄(C. T. Nguyen),김용석(Y. S. Kim),양순용 유공압건설기계학회 2015 유공압건설기계학회 학술대회논문집 Vol.2015 No.6
A process of producing the Heavy and the secondary battery to the vacuum force to remove the water, and vacuum dried to remove residual solvent (chemical resin) (dried) and process gas (Solvent) occurring in each step of the vacuum generated by the heating degassing process, and the like, vacuum drying process and vacuum degassing process has been used in this way is essentially a vacuum pump. The process is applied to the vacuum pump is generated in the production water or an oil, gas or the like can be mixed, because of the oil mist in the vacuum pump in response to the vacuum oil cakes such as upset is fixed in a short time the pump is used is causing problems with the operation suffer from the problems such as the maintenance to cause corrosion as well as a pump device, and the exhaust. In this study, the development of a heavy electric equipment and a secondary battery and for mist removal system according to the proposal of the custom property that the mist generated in the various production processes, the oil can, a simulator to test the release properties of the mist.
SimMechanics SimHydraulic을 이용한 가상 굴삭기 개발
레광환(Q. H. Le),정영만(Y. M. Jeong),웬치탄(C. T. Nguyen),양순용(S. Y. Yang) 유공압건설기계학회 2013 드라이브·컨트롤 Vol.10 No.1
Excavation is an important work in mining, earth removal and general earthworks. Nowadays, automation in excavator has been studied by several researchers. In the excavator research methods, simulation is one of the low cost methods for applied to test safely. In this paper, designed a virtual hydraulic excavator that with the control and the dynamic. At first, the simulation of hydraulic system for excavator’s attachment such as boom, arm and bucket using Matlab/Simhydraulic is presented. Second, the dynamic model of excavator is distributed to combine with the hydraulic system. For controlling this system, electric joysticks are used to operate the orifice open areas in Main Control Valve. The simulation result is described to analysis the performance of this virtual excavator.
오지우(J. W. Oh),정영만(Y. M. Jeong),김강윤(G. Y. Kim),웬치탄(C. T. Nguyen),양순용(S. Y. Yang) 유공압건설기계학회 2015 유공압건설기계학회 학술대회논문집 Vol.2015 No.10
transmission valve body cover for car was a material modification of the resin in the existing aluminum as a way of reducing car weight , processing method according thereto or assembly methods also can form a lot of changes , transmission valve body cover , cylinder head cover, etc. Until now, the general Covers but the mainstream , such as die-cast aluminum , with lightweight magnesium requirements angry , being angry resin . In general, a synthetic resin such as nylon-based material cost per unit weight to be used is from about 1/2 to less specifications, depending on the weight and shape the material as compared to the cost of aluminum hapdeum.
헤드 트래커 시스템을 사용하여 필드 로봇 원격 제어 및 증강 현실의 비전에 관한 연구
레광환(Q. H. Le),정영만(Y. M. Jeong),웬치탄(C. T. Nguyen),양순용(S. Y. Yang) 유공압건설기계학회 2014 유공압건설기계학회 학술대회논문집 Vol.2014 No.9
Operating excavator on the risk surroundings is not safe for human to control on site. Consequently, automatic excavator called Field Robot has been researched to protect the workers from the hazardous environments. The remote excavation system is required to perform in such environments. This paper presents the study on remote control system for the Field Robot and augmented reality vision for user using head tracker system. The design of the remote control system that consist Remote Station and Filed Robot. In Remote Station, user can send the control commands through wireless communication. Besides, the Inertial Measurement Unit (IMU) sensor is integrated in a head mounted display (HMD) to track the motion of human’s head. These signals are transferred to the pan/tilt motor controller and to operate the motion of the CCD camera following the movement of operator’s head. The Field Robot is also contributed and some experiments are carried out to prove the feasibility of the proposed system.
Study on Intuitive Configuration of Joystick for Operator in Flattening Task of Excavator
Q. H. Le(레광환),Y. M. Jeong(정영만),C. T. Nguyen(웬치탄),S. Y. Yang(양순용) 유공압건설기계학회 2013 유공압건설기계학회 학술대회논문집 Vol.2013 No.10
Hydraulic excavators are among the most versatile earthmoving equipment: these machines are used in civil engineering, hydraulic engineering, grading and landscaping, pipeline construction and mining. Especially, to flattening the ground these, the excavator operator actuates the machine controls (joysticks, pedals and switches) in an organized form to achieve the desired straight motion; the actuation of these controls is a complex and not intuitive task, and therefore it requires long and costly training periods. This paper present a intuitive configuration of joystick for operator in flattening task of excavator. This method control lets each joystick perform independent horizontal and vertical motions of the end of bucket. The proposed method allows an user to control the excavator intuitively and operate complex motions smoothly with no constraints. For this, a virtual excavator scheme with a joystick control has been developed. Besides, the virtual reality interface is designed to allow the use be able to observe the motion of the attachment of this model.