Other

Neuromeka

Young Jin Heo

Hyun Nam Cho

Young Chan Ko

Il Seok Choi

Jong Hoon Park

Jae Min Hong

Gwan Woo Kim

Woong Yong Lee

In a method for compensating for friction of a multi-degree-of-freedom cooperative robot including a plurality of joints, the method for compensating for friction of the multi-degree-of-freedom cooperative robot, according to an embodiment of the present invention, comprises the steps of: generating a motion of a cooperative robot for friction compensation; driving the plurality of joints on the basis of the generated motion of the cooperative robot; receiving friction identification data from the cooperative robot; and calculating a friction model function from the received friction identification data.

Method for compensating for friction of multi-degree-of-freedom cooperative robot

A process for preparing polyethylene naphthalate polymer by using a composite catalyst. The process comprises the steps of esterifying a dicarboxylic acid containing 2,6-NDCA, a dicarboxylic ester containing 2,6-NDC or derivatives thereof, with ethylene glycol or a glycol containing ethylene glycol to produce esterification polymers containing bis(beta-hydroxyethyl)naphthalate; continuously polycondensing the obtained esterification polymers to prepare a polymers of polyethylene naphthalate; and wherein the process includes using a composite polymerization catalyst, said composite polymerization catalyst comprising a titanium compound, a phosphorous compound and optionally an antimony compound. The process can considerably reduce both the esterification time and the polycondensation time and provides a good color and excellent physical characteristics.

Process for preparing polyethylene naphthalate based polymers

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Changwon, South Korea

Young Jin Heo