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정양근(Yang Keun Jeong),백승학(Seung Hak Baek) 한국산업융합학회 2014 한국산업융합학회 논문집 Vol.17 No.4
This study focuses on incorporated intelligent control system. There are a diversity of CNC machines all over the world ? CNC lathe, CNC milling machine, machining center, CNC copy milling machine, wire cutting machine, CNC grinding machine, CNC electric spark machine, laser cutting machine, gas cutting machine, plasma cutting machine, injection molding machines, press machine. The purpose of this study is to develop a production process control system using M2M/IoT, real-time control system so that the machines are controlled and managed in a efficient way, which leads to improvements in company’s competitiveness.
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.
심병균(Byoung-Kyun Shim),정양근(Yang-Keun Jeong),심현석(Hyun-Seok Shim),이우송(Woo-Song Lee) 한국산업융합학회 2014 한국산업융합학회 논문집 Vol.17 No.4
In this paper, stable and robust dynamic walking for a biped motion is proposed. To success this objective, the following structures are processed. In this paper, the proposed control method is one that adjusts actual zero moment position to move to the closest possible point in the stable area instead of following desired zero moment position. This minimizes energy consumption with the smallest joint movements. The proposed control method makes mechanical energy that drives lower limb of the bipedal robot efficient. In this paper, walking experiment is carried out with the three control structures mentioned above. The trajectory generated by off-line is illustrated by performing to walking on flat ground. experiment with an obstacle whose height is lower than that of trajectory is executed to validate dynamic motion.
스마트펙토리를 위한 듀얼암을 갖는 모바일 로봇의 유연제어에 관한 연구
이우송(Woo-Song Lee),하언태(Eun-Tha Ha),정양근(Yang-Keun Jeong),박인만(In-Man Park) 한국산업융합학회 2016 한국산업융합학회 논문집 Vol.19 No.2
This study proposes a new approach to design of the robust control application of a mobile manipulator with dual-arm. The mobil manipulator robot system consists of 12 DOF manipulators and a mobile robot. Kinematics of the robotics has been analyzed and simulated to verify reliability. A position-based torque control technique is applied to the robot by adding an outer loop to interact with the environment. Experimental studies of torque control applications of robot arm and interaction with a user operator are conducted. Experimental results has been proved that the robot arm performed regulated to follow the desired reference.