• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.513-518
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• 1993

In this paper, we consider the handling f a flexible object using dual-arm manipulators. We choose both the side arms as rigid, and the objects to be manipulated as flexible. Our purpose is to realize position control for the flexible object while suppressing its vibration. In particular, the problem taken up here is the stability of the control system while manipulating the object. We propose that the traditional approach to investigate the robot system be expanded to include the object's characteristics (thus transferring the stability of the robot system into the full assembly system). We define a handling characteristic while manipulating the object. Finally, the relationship between the handling characteristic and the positional constraint condition in the hold position of the arms is studied while considering the stability of the control system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.251-254
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• 1996

We propose a coordinated motion control algorithm of dual manipulators handling a flexible object. The controller is designed so that it can specify the apparent impedance of the object as well as can control its deformation. The experimental results will illustrate validity of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.460-463
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• 1995

The present paper studies a robot manipulator's contact tasks on the uncertain flexible objects. The flexible object's distributed parameter model is approximated into a lumped "position state-varying" model. By using the well-known nonlinear feedback compensation, the robot's control space is decomposed into the position control subspace and the object's torque control subspace. The optimal state feedback is designed for the position loop, and the robot's contact force is controlled through controlling the resultant torque on the object using model-reference simple adaptive control. Experiments of a PUMA robot interacting with an aluminum plate show the effectiveness of this control approach. approach.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 ITC-CSCC -1
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• pp.583-586
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• 2002

In this research, we propose a flexible conveying system (FCS) which consists of multiple arrays of cells. Each cell is a wheel driven by a two degree-of-freedom mechanism. The direction and velocity of cell are controlled based on the concept of hybrid control under a distributed network. Each cell has its own controller under a subsumption architecture for low-level control. A cell communicates with its four neighboring cells to manipulate n targeted object towards its desired position. The high-level control assigns a desired position and direction of the object to each cell. The path of each object is generated by many supporting cells. Moreover, the FCS can handle multiple objects simultaneously. To study the flexible conveying system, a GUI-based simulator of flexible conveying system is constructed. The simulated results show that the system can handle multiple objects independently and simultaneously under the proposed hybrid control architecture.

• 대한산업공학회지
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• 제23권4호
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• pp.669-686
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• 1997

In this research, an object-oriented Petri net model for representing a flexible process plan is proposed, which is hierarchically multi-faceted for supporting planning, scheduling, and shop floor control functions. The multi-faceted process plan model consists of the following: a) an object model which represents on object-oriented data model, b) a static model which represents a process flow model with process alternatives, and c) a dynamic model which represents a process activity model with resources alternatives, of a flexible process plan. Petri nets allow the static and the dynamic process plan models to be represented in a unified formalism with an ease of model transformation. The multi-faceted process plan model suggested in this paper, is illustrated with a prismatic port in comprehensive detail.

• 한국생산제조학회지
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• 제19권5호
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• pp.645-652
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• 2010

For free motions, vibration suppression of single flexible manipulators has been one of the hottest research topics. However, for cooperative motions of multiple flexible manipulators, a little effort has been devoted for the vibration suppression control. So, the aim of this paper is to develop a hybrid force/position control and vibration suppression control scheme for multiple cooperation flexible manipulators handling a rigid object. In order to clarify the discussion, the motions of dual-arm experimental flexible manipulator are considered. Using the developed model, we control a robotic system with hybrid position/force control scheme. Finally, Experiments are performed, and a comparison of experimental results is given to clarify the validity of our control scheme.

• International Journal of Precision Engineering and Manufacturing
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• 제1권1호
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• pp.84-90
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• 2000

The importance of Virtual Manufacturing System is increasing in the area of developing new manufacturing processes, implementing automated workcells, designing plant facility layouts and workplace ergonomics. Virtual manufacturing system is a computer system that can generate the same information about manufacturing system structure, states, and behaviors as is observed in a real manufacturing. In this research, a virtual manufacturing system for flexible manufacturing cells (VFMC), (which is a useful tool for building Computer Integrated Manufacturing (CIM), has been developed using object-oriented paradigm, and implemented with software QUEST/IGRIP. Three object models used in the system are the product model, the facility model, and the process model. The concrete behaviors of a flexible manufacturing cell are re[presented by the task-oriented description diagram, TIC. An example simulation is executed to evaluate applicability of the developed models, and to prove the potential value of virtual manufacturing paradigm.

• 한국기계가공학회지
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• 제19권10호
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• pp.111-116
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• 2020

Flexible tactile sensors, which are primarily used as grippers in robots, are mainly used to handle highly elastic or highly flexible objects. That is, flexible grippers are used when an object cannot be sufficiently controlled by applying a specific output force or taking a specific grabbing action. This is because a flexible tactile sensor needs to measure the pressure applied directly to held objects while deforming according to the shape of the object to be handled. CNT-based sensors used to be made from a highly flexible polymer to give flexibility and it is known that the sensors are greatly affected by the contact resistance of the terminal that connects the sensor to an electrical circuit; therefore, this paper clarifies the contact resistance of MWCNTs-based flexible tactile sensors and terminals. The effects of main and plating materials for terminals are investigated and the combinations of main and plating materials that exhibit contact resistance are measured in a typical industrial environment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.383-386
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• 1997

Electrostatic suspension is a method to levitate an object by using electrostatic forces. Its main advantage is to levitate objects without any mechanical contact which fulfills the requirement of an object handling in ultra clean environment. In this paper, the electrostatic suspension system for film-like thin plate such as aluminum sheet, is designed and controlled. In contrast with the conventional electrostatic suspension system which requires the costly and bulky high-voltage amplifiers, it is suggested to use the switching voltage control method in consideration of real industrial application for the handling of such flexible bodies. Some experimental results show that the developed electrostatic suspension system shows good performances to levitate flexible film-like thin plate.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 C
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• pp.1218-1220
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• 1999

In this paper, we developed object-oriented analysis method for electric power system. It was applied to fault diagnosis, power system stability analysis and service restoration system in emergency state. Objectoriented programming(OOP)is a more flexible method than procedural programming. We proposed flexible modeling method for power system analysis.