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.

목표지향적 행동모델을 적용한 순례지의 지각된 가치가 의사결정과정에 미치는 영향 - 해미국제성지의 순례자를 대상으로 -

정원지(Chung, Won-Ji),김정찬(Kim, Jung-Chan) 한양대학교 관광연구소 2021 觀光硏究論叢 Vol.33 No.3

순례는 일상을 벗어나 자유로움과 삶에 변화를 줄 수 있는 신비한 경험을 찾아 나서는 여정이다. 순례는 영적 관광, 종교 관광, 다크투어리즘과 같은 변형 관광 등 유사하지만 서로 다른 순례의 의미를 형성하고 있다. 이에 본 연구는 순례자를 대상으로 순례지의 가치가 재방문의도에 미치는 영향을 분석하고자 했다. 설문조사는2021년 5월 14일부터 6월 17일까지 한국에서는 단일 순례지로는 첫 번째로 교황청으로부터 국제성지로 선포된 해미국제성지에서 진행하였다. 최종 312부를 수거하여 SPSS/AMOS 23을 사용하여 실증분석을 실시했다. 연구결과, 순례관광객의 영성적 가치, 기능적 가치, 그리고 감정적 가치가 재방문 의사결정과정에 긍정적인 영향을 미치는 것으로 나타났다. 영성적 가치가 가장 높은 값으로 태도에 영향을 미치는 것으로 나타났다. 즉, 순례관광의 지각된 가치는 순례자들이 성지 방문에 대한 태도에 긍정적인 영향을 미치기 때문에 중요한 요인임을 시사한다. 이를 토대로 도출된 이론적 시사점을 해미국제성지의 사목자와 관리자에게 제시하였다. Pilgrimage is a journey away from everyday life to discover freedom and experience spirituality. Despite the purpose of this journey, pilgrimage can also relate to spiritual tourism, religious tourism, and transformational tourism such as dark tourism. Thus, this study aims to examine how perceived value of a particular religious destination influences pilgrims’ behavior intention and their intention to revisit. Secondly, the survey was conducted from May 14<SUP>th</SUP>, 2021 to, June 17<SUP>th</SUP>, 2021, at Haemi Martyrdom holy land, South Korea"s first Vatican approved international Holy Land. The final 312 surveys were collected and demonstrated using SPSS and AMOS 23. Findings indicate that after experiencing the site, the perceived value, which are spiritual, functional, and emotional, of pilgrimage tourists positively impact the decision-making process of the intention to revisit. Among the studied perceived values, spiritual value had the strongest impact on attitude. Therefore, the findings of this study provide academic and practical implications for Haemi Martyrdom holy land pastor and administrators.

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.

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.

관측성을 이용한 3축 SCARA Robot의 오차분석을 위한 Monte-Carlo simulation 및 측정

주지훈(Ji-Hun Ju),정원지(Won-Jee Chung),김정현(Jung-Hyun Kim) 한국생산제조학회 2008 한국생산제조학회지 Vol.17 No.4

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 simulation for error analysis of a 3-axis SCARA(Selective Compliance Assembly Robot Arm) type robot. In particular, the Monte-Carlo 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.

반응표면법을 이용한 MLCC 자동 정렬 시스템의 운영조건 최적화

김재민,정원지,신오철,Kim, Jae-Min,Chung, Won-Ji,Shin, O-Chul 한국생산제조학회 2010 한국생산제조학회지 Vol.25 No.6

This paper presents the Application of Response Surface Method for Optimal Transfer Conditions of MLCC Alignment System. his paper is composed of two parts: (1) Testing performance verification of MLCC alignment system, compared with manual operation; (2) Applying response surface method to figuring out the optimal transfer conditions of MLCC transfer system. Based on the successfully developed MLCC alignment system, the optimal transfer conditions have been explored by using RSM. The simulations using $ADAMS^{(R)}$ has been performed according to the cube model of CCD. By using $MiniTAB^{(R)}$, we have established the model of response surface based on the simulation results. The optimal conditions resulted from the response optimization tool of $MiniTAB^{(R)}$ has been verified by being assigned to the prototype of MLCC alignment system.

6시그마 DMADOV기반 아리즈와 브레인스토밍을 이용한 취부용 피스제거 시스템의 공학문제 해결에 관한연구

이성조,정원지,이춘만,Lee, Seong-Jo,Chung, Won-Ji,Lee, Choon-Man 한국생산제조학회 2010 한국생산제조학회지 Vol.25 No.3

This paper presents a new design algorithm for piece-removing dynamical system, based on 6-Sigma DMADOV technique using ARIZ and Brainstorming. Our design target is the piece-removing system installed on a mobile platform of bead-grinding equipment. The 6-Sigma DMADOV technique guides us design process according to 6 steps, i.e., Define - Measure - Analyze - Design - Optimize - Verify. A Design strategy to reduce the weight of piece-removing dynamical system will be explored by using ARIZ, i.e.,(the abbreviation of Algorithm for Inventive Problem Solving in Russian). The ARIZ will result in a final solution that the height and angle control parts for a cutting tool should be replaced by a kinematical approach, rather than complicated mechatronic approach(using motors). The Optimize step is composed of two sub-steps: (i) Generating process for obtaining several ideas of piece-removing system by using Brainstorming technique, satisfying the final solution derived from the Design step using ARIZ, and (ii) Optimizing process for selecting the most optimal idea of piece-removing system by using Pugh's matrix from the viewpoints of weight, cost and accuracy. The laststep of Verify has shown that the final design obtained by the 6-Sigma DMADOV technique with ARIZ & Brainstormingcan improve an initial design with design requirements satisfied. In this paper, we have shown that ARIZ and Brainstorming can be cooperatively merged into 6-Sigma DMADOV to give us both a formulatedproblem-solving approach and diverse candidate solutions(or ideas) without trial-and-error efforts.

트리즈와 브레인스토밍을 이용한 취부용 피스제거 자동화 시스템의 최적설계에 관한 연구

이성조(Seong-Jo Lee),정원지(Won-Ji Chung),김호종(Ho-Jong Kim),김기정(Ki-Jung Kim),김정현(Jung-Hyun Kim) 한국생산제조학회 2008 한국생산제조학회지 Vol.17 No.6

This study includes contents on an effective designing of the outer-wall piece removing equipment of a hull, by applying TRIZ. To remove the piece, gas torch was used. However, the heat source must be shut down since the heat source of gas torch has a bad influence on this system. This is why TRIZ and Brainstorming were used, to solve this problem. First, we analyzed the system using TRIZ, and then presented the direction a solution is expected to follow. And the most suitable scheme was derived from brainstorming which had been conducted based on the direction of a solution. Lastly we conducted an equipment modeling based on the most suitable scheme we made before, and carried out the heat analysis to inspect its effect by comparing pre-existing mechanism with most suited scheme.

6시그마 DMADOV기반 아리즈와 브레인스토밍을 이용한 취부용 피스제거 시스템의 공학문제 해결에 관한연구

이성조(Seong-Jo Lee),정원지(Won-Ji Chung),이춘만(Choon-Man Lee) 한국생산제조학회 2010 한국생산제조학회지 Vol.19 No.1

This paper presents a new design algorithm for piece-removing dynamical system, based on 6-Sigma DMADOV technique using ARIZ and Brainstorming. Our design target is the piece-removing system installed on a mobile platform of bead-grinding equipment. The 6-Sigma DMADOV technique guides us design process according to 6 steps, i.e., Define ? Measure ? Analyze ? Design ? Optimize ? Verify. A Design strategy to reduce the weight of piece-removing dynamical system will be explored by using ARIZ, i.e.,(the abbreviation of Algorithm for Inventive Problem Solving in Russian). The ARIZ will result in a final solution that the height and angle control parts for a cutting tool should be replaced by a kinematical approach, rather than complicated mechatronic approach(using motors). The Optimize step is composed of two sub-steps: (ⅰ) Generating process for obtaining several ideas of piece-removing system by using Brainstorming technique, satisfying the final solution derived from the Design step using ARIZ, and (ⅱ) Optimizing process for selecting the most optimal idea of piece-removing system by using Pugh’s matrix from the viewpoints of weight, cost and accuracy. The laststep of Verify has shown that the final design obtained by the 6-Sigma DMADOV technique with ARIZ & Brainstormingcan improve an initial design with design requirements satisfied. In this paper, we have shown that ARIZ and Brainstorming can be cooperatively merged into 6-Sigma DMADOV to give us both a formulatedproblem-solving approach and diverse candidate solutions(or ideas) without trial-and-error efforts.