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사용자 친화적이고 직관적인 티칭을 위한 충돌예측기능을 포함하는 탈착형 로봇 교시 장치
도현민(Hyunmin Do),김휘수(Hwi-Su Kima),김의겸(Uikyum Kim),최태용(Tae-Yong Choi),박종우(Jongwoo Park),박동일(Dong Il Park),박찬훈(Chanhun Park),경진호(Jinho Kyung),김두형(Doo Hyeong Kim) 한국생산제조학회 2021 한국생산제조학회지 Vol.30 No.1
Increasing demand for automation and recent intact trends have accelerated the employment of robots in manufacturing and service areas. Thus, the need for an easy and efficient robot teaching is also increasing. In this paper, a novel concept of intuitive teaching device is proposed to overcome the weakness of the previous research that enables direct teaching by attaching the teaching device to the end effector of the robot and to improve the intuitiveness and operability. The teaching and collision prediction units are modularized according to their function and can be combined or disassembled. The manipulability is improved by lowering the height of the teaching device, and the influence on the payload is minimized by reducing the weight of the teaching device. A prototype is implemented, and the performance is verified through experiments by attaching the proposed teaching device to an industrial robot and performing teaching and playback tasks.
Isotope Selective Optical Pumping in a Dense Thallium Atomic Beam
고광훈,Hyunmin Park,Taek-Soo Kim,Gwon Lim,Yong-Ho Cha,Cheol-Jung Kim,Do-Young Jeong 한국물리학회 2010 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.56 No.1
Isotope selective optical pumping has been investigated in a dense thallium atomic beam. The ground state thallium atoms are optically pumped to metastable atoms by using a frequency-doubled single-mode continuous Ti:Sapphire laser. The relative population of the metastable atoms of 203Tl and 205Tl has been obtained by measuring the absorption strength of the metastable atoms after optical pumping. The isotope selectivity of the optical pumping technique strongly depends on the power broadening effect. In addition, collisional energy transfer, such as inter-atomic collisions, and the hyperfine state changing collision is discussed.
Laser Isotope Separation of 176Yb for Medical Applications
Park Hyunmin,Han Jaemin,Jeong Do-Young,Kim Cheol-Jung,Kim Tak-soo,Kwon Duck-Hee,Nam Sungmo,Rhee Yongjoo,Yongho Cha 한국물리학회 2006 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.49 No.1
The radioisotope, 177Lu, is emerging as a promising isotope for a variety of medical applications such as cancer treatment. Enriched 176Yb can be used as a source material for the production of 177Lu in an atomic reactor. For these applications, we have developed a laser separation technology based on isotopic selective photoionization to enrich the stable 176Yb isotope. Our separation system consists of three dye lasers, a Yb vaporizer, and an ion-extraction system. Especially, we use a compact diode-pumped solid-state laser as the pumping source of the dye lasers. With the developed system, we succeeded in producing enriched 176Yb with an abundance of more than 97 %.
Post-processing of Direct Teaching Trajectory in Industrial Robots
Taeyong Choi,Chanhun Park,Hyunmin Do,Kwangcho Chung,Dongil Park,Jinho Kyung 한국지능시스템학회 2012 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.12 No.3
Direct teaching of the industrial robot is a novel technique to easily teach manipulators. However, teaching data by human hand cannot help having large noise errors ranging from low to high frequency. To use teaching data, post-processing to correct the teaching trajectory is required. Here, a novel shape-based trajectory correction method to rebuild teaching data with the feature information of curvature and velocity is proposed. The proposed method is tested on square and circular objects.
Isotope Selective Optical Pumping of Thallium Atoms in a Vapor Cell
Kwang-Hoon Ko,Do-Young Jeong,Gwon Lim,Hyunmin Park,Taek-Soo Kim,Yong-Ho Cha 한국물리학회 2007 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.51 No.I
Isotope selective optical pumping has been investigated in a thallium vapor cell. A numerical calculation is performed to establish the isotope selective characteristics. In addition, metastable atoms that are optically pumped by a continuous-wave ultraviolet laser are probed by using a frequency doubled diode laser. The measured values, such as the spectral width, the peak shift, and the isotope selectivity, are compared with the numerical results.
최태용(Taeyong Choi),도현민(Hyunmin Do),박찬훈(Chanhun Park),박동일(Dongil Park),김두형(Doohyeong Kim),경진호(Jinho Kyung) 한국생산제조학회 2016 한국생산제조학회지 Vol.25 No.6
Teaching an industrial robot is still a dangerous and time-consuming process. It is expected that a robot can track a trajectory that is repeatedly taught by a human operator. Teaching a robot in joint space is easier than that in Cartesian space or a work space because the robot will never lose its stability when it is taught and operated in a joint space. However, it is very easy for a robot to lose its stability when it is taught in a work space. This is because of the singular points problem in kinematics for manipulators. Thus, experts should teach a given task to a robot in a careful manner. A new algorithm that avoids the problem of singular points is proposed. Using this proposed method, a user can freely teach a robot without the chance of instability in an entire work space.