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최형식(Choi hyeung-sik),전지광(Jeon ji-kwang),홍성율(Hong sung-yul),엄태웅(Uhm tai-woong) 대한기계학회 2010 대한기계학회 춘추학술대회 Vol.2010 No.5
This paper is about the design of a new gravity compensator for the exo-skeleton device. The exo-skeleton devices is for increasing the torque of the human body joint for the purpose of helping the disabled or military soldiers. So far, the studied exo-skeleton device is actuated by the motors, but motors are limited in energy such that a short durability is always a big problem. In this paper. a new gravity compensator is proposed to reduce the torque load applied to human body joints due to gravity. The gravity compensator is designed using a tortional bar spring, and its structure and characteristics are studied through the test and computer simulater. Also, a design concept using the gravity compensator of the exo-skeleton device is presented.
최형식(Hyeung-sik CHOI),전지광(Ji-kwang JEON),홍성율(Sung-Yul HONG),임재형(Jea-Hyeung LIM),김상현(Sang-Hyun KIM) 한국마린엔지니어링학회 2008 한국마린엔지니어링학회 학술대회 논문집 Vol.2008 No.-
This paper presents the development of the remotely operated vehicle(ROV). We worked on the design of the ROV, and the development of the control system, which include the motor control system of CAN communication system. The ROV was designed for ability of the 50 meter depth in ocean. An emphasis was laid on the development of the control system with the development of the performance evaluation technique.
강진일(Jin-il Kang),최형식(Hyeung-sik Choi),홍성율(Sung-yul Hong),서주노(Joo-no Seo),김문환(Moon-hwan Kim),권경엽(Kyeong-yeop Gwon) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.5
In this paper, a 3-D simulator was developed to estimate visually the performance of propelling and integrated control system of the underwater cleaning robot. Based on the dynamics analysis of the UCR, the 3-D model of the UCR was used in the simulator including position and velocity. Also, a joystick was developed. It was an input and control device for the simulator. Moreover, integrated navigation control system was designed, and its performance was validated by a way-point simulator including the control law.
최형식(Hyeung-sik CHOI),전지광(Ji-kwang JEON),홍성율(Sung-Yul HONG),임재형(Jea-Hyeung LIM),김상현(Sang-Hyun KIM) 한국항해항만학회 2008 한국항해항만학회 학술대회논문집 Vol.2008 No.공동학술
This paper presents the development of the remotely operated vehicle(ROV). We worked on the design of the ROV, and the development of the control system, which include the motor control system of CAN communication system. The ROV was designed for ability of the 50 meter depth in ocean. An emphasis was laid on the development of the control system with the development of the performance evaluation technique.
최형식(Hyeung-Sik Choi),강진일(Jin-il Kang),홍성율(Sung-Yul Hong),박한일(Han-il Park),서주노(Joo-no Seo),김문환(Moon-Hwan Kim),권경엽(Kyeong-Yeop Gwan) 한국항해항만학회 2009 한국항해항만학회지 Vol.33 No.6
In this paper, a 3-D simulator was developed to estimate visually the performance of propelling and integrated control system of the underwater cleaning robot. Based on the dynamics analysis of the UCR, the 3-D model of the UCR was used in the simulator in which position and velocity are included Also, an input and control system using a joystick was developed, and the simulator was applied to the input and control of the simulator. Moreover, an integrated navigation control system was designed, and its performance was validated by a way-point simulator including a PI-based fuzzy control law. 본 연구에서는 수중청소로봇의 추종 성능과 통합 제어시스템 성능을 가시적으로 예측할 수 있는 3차원 시율레이 터를 개발하였다. 수중청소로봇의 동역학적 해석을 기반으로, 시뮬레이터에는 실제 개발 중인 3차원형상의 수중청소로봇을 적용하고 로봇의 위치와 속도 등을 나타내는 창을 표시하였다. 또한, 조이스틱을 사용하는 입력 및 제어 장치를 직접 제작하여 시리얼 통신을 통하여 시뮬레이터의 입력 및 제어에 사용하였다. 그리고 통합 항법 제어시스템을 설계하고, PI 기반의 퍼지 제어기를 포함하는 way-point tracking 시뮬레이션을 통하여 성능을 검증하였다.