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매개변수를 이용한 $Labview^{(R)}$ 기반의 3축 SCARA로봇의 이종모션 제어 알고리즘
정원지,주지훈,이기상,Chung, Won-Jee,Ju, Ji-Hun,Lee, Kee-Sang 한국생산제조학회 2009 한국생산제조학회지 Vol.18 No.2
In order to implement continuous-path motion on a robot, it is necessary to blend one joint motion to another joint motion near a via point in a trapezoidal form of joint velocity. First, the velocity superposition using parametric interpolation is proposed. Hybrid motion blending is defined as the blending of different two type's motions such as blending of joint motion with linear motion, in the neighborhood of a via point. Second, hybrid motion blending algorithm is proposed based on velocity superposition using parametric interpolation. By using a 3-axis SCARA (Selective Compliance Assembly Robot Arm) robot with $LabVIEW^{(R)}$ $controller^{(1)}$, the velocity superposition algorithm using parametric interpolation is shown to result in less vibration, compared with PTP(Point- To-Point) motion and Kim's algorithm. Moreover, the hybrid motion $algorithm^{(2)}$ is implemented on the robot using $LabVIEW^{(R)(1)}$ programming, which is confirmed by showing the end-effector path of joint-linear hybrid motion.
매개변수를 이용한 Labview<SUP>®</SUP>기반의 3축 SCARA로봇의 이종모션 제어 알고리즘
정원지(Won-Jee Chung),주지훈(Ji-Hun Ju),이기상(Kee Sang Lee) 한국생산제조학회 2009 한국생산제조학회지 Vol.18 No.2
In order to implement continuous-path motion on a robot, it is necessary to blend one joint motion to another joint motion near a via point in a trapezoidal form of joint velocity. First, the velocity superposition using parametric interpolation is proposed. Hybrid motion blending is defined as the blending of different two type’s motions such as blending of joint motion with linear motion, in the neighborhood of a via point. Second, hybrid motion blending algorithm is proposed based on velocity superposition using parametric interpolation. By using a 3-axis SCARA (Selective Compliance Assembly Robot Arm) robot with LabVIEW<SUP>®</SUP> controller(1), the velocity superposition algorithm using parametric interpolation is shown to result in less vibration, compared with PTP(Point-To-Point) motion and Kim’s algorithm(2). Moreover, the hybrid motion algorithm is implemented on the robot using LabVIEW<SUP>®</SUP>(1) programming, which is confirmed by showing the end-effector path of joint-linear hybrid motion.
실험계획법을 이용한 초고속 스핀들의 언클램핑 (unclamping) 시간 저감에 대한 최적 조건에 관한 연구
정원지(Won-Jee Chung),조영덕(Young-Duk Cho),이춘만(Choon-Man Lee),정동원(Dong-Won Jung),송태진(Tae-Jin Song) 한국생산제조학회 2006 한국생산제조학회지 Vol.15 No.3
By the reason of increased demand of high productivity, the researches on manufacturing process and equipments for reducing cycle time have been made in many directions of a machine tool industries. Especially high productivity is very important to machining center with high-speed spindle. This paper proposed method of reducing T-T(tool to tool) time which results in shorter unclamping time. T-T time varies as factors such as a hydraulic system, a drawbar mass, a flow meter, a disc spring, piston and pipe diameters. In this paper We could find design factors has much influence on decreasing the unclamping time using DOE(Design of Experiment) and optimized the level of the factors using AMESim 4.0<SUP>®</SUP> and visualNastran 4D<SUP>®</SUP>. Finally, we have verified improved result of the optimized factors with initial design.
다구찌 방법을 이용한 선체 외판 전처리 로봇의 최적 작업 조건 선정
정원지(Won-Jee Chung),김기정(Ki-Jung Kim),김효곤(Hyo-Gon Kim),김정현(Jung-Hyun Kim),김호경(Ho-Kyung Kim),이동훈(Hun-Dong Lee) 한국생산제조학회 2006 한국생산제조학회지 Vol.15 No.4
This paper present the optimal cleaning condition of the out-hull preprocessing robot by Taguchi method in design of experiments. A L?(2⁴) orthogonal array is adopted to study the effect of adjustment parameters. The adjustment parameters consist of robot speed, motor torque, motor speed and tool angle. And the quality feature is selected as surface roughness of sheet metal. Taguchi analysis is performed in order to evaluate the effect of adjustment parameters of the quality feature of cleaning process by Minitab<SUP>®</SUP>.
관측성을 이용한 3축 SCARA Robot의 오차분석을 위한 Monte-Carlo simulation 및 측정
정원지(Won-Jee Chung),주지훈(Ji-Hun Ju),김정현(Jung-Hyun Kim) 한국생산제조학회 2007 한국공작기계학회 춘계학술대회논문집 Vol.2007 No.-
This paper aims at finding out dominant robot configurations with maximal position errors, which can be attributed to the parameter errors, by using Monte-Carlo (based) simulation technique for error analysis of a 3-axis SCARA (Selective Compliance Assembly Robot Arm) type robot. In particular, the Monte-Carlo (based) simulation is used for virtually measuring on the position errors, instead of physical measurement. In order to measure the observability of the model parameters with respect to a set of robot configurations, we propose the observability index which is defined as the product of singular values for error propagation matrices. Thus the index can be used for discriminating dominant robot configurations from a set of simulated ones in conjunction with standard deviation of positional errors, This paper analyzed error by robot positional errror. And measured actuality 3 Axis SCARA types' positional error (Repeatability) of robot.
3-Axis SCARA Robot의 진동저감을 위한 Finite Jerk 기반 속도 제어에 관한 연구
정원지(Won Jee Chung),김정현(Jung Hyun Kim),주지훈(Ji Hun Ju) 한국생산제조학회 2007 한국공작기계학회 춘계학술대회논문집 Vol.2007 No.-
This paper present the result that techniques of velocity control based on Finite Jerk to reduce Vibration of 3-Axis SCARA Robot using AC-servo motor. In case of the high speed motion, jerk (the first derivative of acceleration) is the principle factor of vibration of the robot mechanical part. Therefore we can reduce vibration of 3-Axis SCARA Robot using Finite Jerk (taken trapezoidal acceleration form) by control Jerk duration time. (△t) This paper prpose Finite Jerk velocity profile, apply Finite Jerk to 3-Axis SCARA Robot using LabVIEW<SUP>®</SUP> and NI PXI-7350 Motion Controller. And Robot motion applied Finite Jerk compare vibrations with trapezoidal and S-Curve velocity mode.
수직 컬럼 이동형 머시닝 센터의 진동 저감을 위한 컬럼 부위 최적화에 대한 연구
정원지(Won-Jee Chung),조영덕(Young-Duk Cho),이춘만(Choon-Man Lee),윤상환(Sang-Hwan Yoon) 한국생산제조학회 2006 한국공작기계학회 춘계학술대회논문집 Vol.2006 No.-
By the reason of increased demand of high productivity and quality, the manufacturer have an effort in many directions of a machine tool industries. Among there, we proposed method of decreasing displacement in MC(machining center). In other words, Quality is improved by optimizing a shape of the column-part. In this paper we could find design factors has much influence on decreasing the displacement using the DOE(Design of Experiments) and optimized the level of the factors using ADAMS and MINITAB.
유한 저크(Finite Jerk)를 이용한 수직 MC(machining center)의 가속도 최적화에 대한 연구
정원지(Won-Jee Chung),조영덕(Young-Duk Cho),이춘만(Choon-Man Lee),윤상환(Sang-Hwan Yoon) 한국생산제조학회 2006 한국공작기계학회 춘계학술대회논문집 Vol.2006 No.-
By the reason of increased demand of high productivity and quality, the manufacturer have an effort in many directions of a machine tool industries. Among there, we proposed method of decreasing displacement in MC(machining center). In other words, Quality related with vibration of a tool cutting products. For decreasing it, improved by optimizing a shape of the column-part and acceleration curves of motors In this paper we could find design factors has much influence on decreasing the displacement using the DOE(Design of Experiments) and optimized the level of the factors using ADAMS<SUP>®</SUP> and MINITAB<SUP>®</SUP>. And we suggest optimized a acceleration curve using Matlab<SUP>®</SUP>.
6시그마의 방법론의 DMADOV 기법에 의한 스핀들에 발생하는 문제 해결 방안에 대한 연구
정원지(Won-Jee Chung),조영덕(Young-Duk Cho),이춘만(Choon-Man Lee) 한국생산제조학회 2007 한국공작기계학회 춘계학술대회논문집 Vol.2007 No.-
Recently the machine industry is rapidly advanced for improving productivity. Especially an effort decreased error factors of machine a tool continuously is being studied. In this paper, we propose a method that decreased vibration in the high speed spindle. By appling 6-sigma technique(DMADOV), we can grasped the influence between the housing design and a rotation accuracy. for a correct conclusion, we measure a actual spindle and analysis by ARMD<SUP>®</SUP>(rotation analysis program).
유한 저크(Finite Jerk)를 이용한 수직 MC(machining center)의 가속도 최적화에 대한 연구
정원지(Won-Jee Chung),조영덕(Young-Duk Cho),이춘만(Choon-Man Lee),윤상환(Sang-Hwan Yoon) 한국생산제조학회 2006 한국생산제조시스템학회 학술발표대회 논문집 Vol.2006 No.5
By the reason of increased demand of high productivity and quality, the manufacturer have an effort in many directions of a machine tool industries. Among there, we proposed method of decreasing displacement in MC(machining center). In other words, Quality related with vibration of a tool cutting products. For decreasing it, improved by optimizing a shape of the column-part and acceleration curves of motors In this paper we could find design factors has much influence on decreasing the displacement using the DOE(Design of Experiments) and optimized the level of the factors using ADAMS<SUP>®</SUP> and MINITAB<SUP>®</SUP>. And we suggest optimized a acceleration curve using Matlab<SUP>®</SUP>.