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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.
정원지,박창권,홍대선 한국공작기계학회 2004 한국생산제조학회지 Vol.13 No.2
This paper presents a new optimization technique of acceleration curve for dynamic structure's movement in which high speed and low vibration are desirable. This technique is based on a genetic algorithm with a penalty function for acceleration optimization under the assumption that an initial profile of acceleration curves constitutes the first generation of the genetic algorithm. Especially the penalty function consists of the violation of constraints and the number of violated constraints. The optimized acceleration of the crane through the genetic algorithm and commercial dynamic analysis software has shown to have accurate movement and low vibration, compared to the conventional accelerations with jerk discontinuity.
Bezier Spline을 이용한 용접 로봇의 새로운 Weaving Motion 궤적 생성 알고리즘
정원지,김대영,서영교,홍형표,홍대선 한국공작기계학회 2004 한국생산제조학회지 Vol.13 No.3
In this paper, we propose a new weaving trajectory algorithm for the are welding of a articulated manipulator. The algorithm uses the theory of Bezier spline. We make a comparison between the conventional algorithms using Catmull-Rom curve and the new algorithms using Bezier spline. The proposed algorithm has been evaluated based on the MATLAB environment in order to illustrate its good performance. Through simulations, the proposed algorithm can result in high-speed and flexible weaving trajectory planning so that it s trajectory cannot penetrate into a base metal compared to the conventional algorithm using Catmull-Rom curve.
유전자 알고리즘과 신경회로망을 이용한 고속 확관기의 확관속도 최적화
정원지,김재량,김진한,홍대선,강흥식,김동성 한국공작기계학회 2005 한국생산제조학회지 Vol.14 No.2
This paper presents the optimization of expanding velocity for tube expanding process in the manufacturing of a heat exchanger. In specific, the expanding velocity has a great influence on the performance of a heat exchanger because it is a key variable determining the quantity of tube expanding at assembly stage as well as a key parameter determining overall production rate. The simulation showed that the genetic algorithm used in this paper resulted in the optimal tube expanding velocity by performing the following series of iteration; the generation of arbitrary population for tube expanding parameters, consequently the generation of tube expanding velocities, the evaluation of tube expanding quantity using the pre-trained data of plastic deformation by means of a neural network, and finally the generation of next population using a penalty function and a Roulette wheel method.
특이점 부근의 로봇운동을 효과적으로 제어하기 위한 새로운 방법 개발
정원지,최은재,홍대선,서영교,홍형표 한국공작기계학회 2002 한국생산제조학회지 Vol.11 No.6
This paper presents a new motion control strategy for singularity avoidance in 6 DOF articulated robot manipulators, based on a speed limiting algorithm for joint positions and velocities. For a given task, the robot is controlled so that the joints move with acceptable velocities and positions within the reachable range of each joint by considering the velocity limit. This paper aims at the development of a new efficient method to control robot motion near and at singularities. The proposed method has focused on generating the optimal joint trajectory for a Cartesian end-effector path within the speed limit of each joint by using the speed limit avoidance as well as the acceleration/deceleration scheme. The proposed method was verified using MATLAB-based simulations.
Maypole Type 편조기의 Guide Track의 동적 모델링 및 해석
정원지,김재량,최선준,김임선 한국공작기계학회 2003 한국생산제조학회지 Vol.12 No.4
Braiding machines of maypole type complex guide tracks. It is not easy to speed up driers while carriers are moving at high speed. This paper presents a new design approach using dynamic analysis and modeling for moving carriers on the guided tracks. The proposed approach will be shown to be effective by using simulation tool, WORKING MODEL 2D^??, for high drivers on new models of braiding machines of maypole type.
Least Square를 이용한 수직다관절 Manipulator의 새로운 원호 경로 보간 방법
정원지,이춘만,김대영,서영교,홍형표 한국공작기계학회 2003 한국생산제조학회지 Vol.12 No.4
This paper presents a new circular curve fitting approach of articulated manipulators, based on least square. The approach aims at gaining the interpolation of circle from n data points, under the condition that the fitted circle should pass both a starting and an ending point. First a spherical fitting should be performed, using least squares. Then the circular curve fitting can be resulted from the intersection of the fitted sphere and the plane obtained from 3 points, i.e., a starting point an ending point, and the center of a sphere. The proposed algorithms are shown to be efficient by using MATLAB-based simulation.
압전 MEMS의 가상신속시작을 위한 유한 요소해석이용 수치해의 개발
정원지 國立 昌原大學校 産業技術硏究所 1997 産技硏論文集 Vol.11 No.-
이 논문에서는 압전 MEMS에 대한 유한요소해석(FEA)응용이 연구되었다. 압전 MEMS와 관련한 특수재료 및 기하학적 형상에 대한 몇 가지의 두드러진 특징 및 앞으로의 연구가치가 있는 주제도 아울러 다룬다. 압전능동박막을 이용한 센서 및 액츄에이터를 포함하는 단순구조에 대한 FEA모델링이 제시되었다. ZnO가 압전재료로 사용되었다. 정적 전기 기계적 해석이 두 가지 모델에 대해 수행되었다. 압전효과로 발생한 처짐 및 센서의 출력전압에 대한 FEA 결과는 해석치 혹은 실험측정값과도 우수하게 일치하였다. 세번째 모델에 대한 FEA이용 조화해석을 수행하여 공진주파수에 대한 결과가 이론근사해석 결과와도 근접하였다. ANSYS가 P-MEMS의 가상신속시작체계를 위한 우수한 FEA도구임이 본 논문을 통해서 보여졌다. P-MEMS에서는 Top-Down 모델링이 Bottom-Up 모델링에 비해 보다 효과적이라는 사실도 제시되었다.