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부품조립 및 핸들링을 위한 말단효과장치의 정밀 그리핑 제어에 관한 연구
하언태(Un-Tae Ha),성기원(Ki-Won Sung),강언욱(Eun-Wook Kang) 한국산업융합학회 2015 한국산업융합학회 논문집 Vol.18 No.3
In this paper, we propose a new precise control technology of robotic gripper for assembling and handling of part. When a robot manipulator interacts mechanically with its environment to perform tasks such as assembly or edge-finishing, the end-effector is thereby constrained by the environment. Therefore grasping force control is very important, since it increases safety due to monitoring of contact force. A comparison of various force control architecture is reported. Different force control methods can often be configured to achieve similar results for a given task, and the choice of control algorithm depends strongly on the application or on the characteristics of a particular robot. In the research, the adjustable gripping force can be controlled and improved the accuracy using the artificial intelligence techniques.
스마트카메라를 이용한 생산공정의 검사자동화를 위한 패턴인식기술에 관한 연구
심현석(Hyun-Suk Sim),신행봉(Heang-Bong Shin),강언욱(Un-Wook Kang) 한국산업융합학회 2015 한국산업융합학회 논문집 Vol.18 No.4
The purpose of this research is to develop the pattern recognition algorithm based on smart camera for inspection automation, and including external surface state of molding parts or optical parts. By performance verification, this development can be applied to establish for existing reflex data because inputting surface badness degree of scratch"s standard specification condition directly. And it is pdssible to distinguish from schedule error of badness product and normalcy product within schedule extent after calculating the error comparing actuality measurement reflex data and standard reflex data mutually. The proposed technology cab be applied to test for masearing of the smallest 10 pixel unit. It is illustrated the relibility pf proposed technology by an experiment.
Won-Jun hwang(황원준),In-Man Park(박인만),Un-Wook Kang(강언욱),Sung-Hyun Han(한성현) 한국산업융합학회 2014 한국산업융합학회 논문집 Vol.17 No.3
We propose a new technique for autonomous navigation and travelling of mobile robot based on ultrasonic sensors through the narrow labyrinth that leave only distance of a few centimeters on each side between the guides and the robot. In our current implementation the ultrasonic sensor system fires at a rate of 100 ms, that is, each of the 8 sensors fires once during each 100 ms interval. This is a very good firing rate, implemented here for optimal performance. This paper presents an extensively tested and verified solution to the problem of obstacle avoidance. Our solution is based on the optimal placement of ultrasonic sensors at strategic locations around the robot. Both the sensor location and the associated navigation algorithm are defined in such a way that only the accurate radial sonar data is used for accurate travelling.
모바일-매니퓰레이터 구조 로봇시스템의 안정한 모션제어에 관한연구
박문열(Moon-Youl Park),황원준(Won-Jun hwang),박인만(In-Man Park),강언욱(Un-Wook Kang) 한국산업융합학회 2014 한국산업융합학회 논문집 Vol.17 No.4
Since the world has changed to a society of 21st century high-tech industries, the modern people have become reluctant to work in a difficult and dirty environment. Therefore, unmanned technologies through robots are being demanded. Now days, effects such as voice, control, obstacle avoidance are being suggested, and especially, voice recognition technique that enables convenient interaction between human and machines is very important. In this study, in order to conduct study on the stable motion control of the robot system that has mobile-manipulator structure and is voice command-based, kinetic interpretation and dynamic modeling of two-armed manipulator and three-wheel mobile robot were conducted. In addition, autonomous driving of three-wheel mobile robot and motion control system of two-armed manipulator were designed, and combined robot control through voice command was conducted. For the performance experiment method, driving control and simulation mock experiment of manipulator that has two-armed structure was conducted, and for experiment of combined robot motion control which is voice command-based, through driving control, motion control of two-armed manipulator, and combined control based on voice command, experiment on stable motion control of voice command-based robot system that has mobile-manipulator structure was verified.
심병균(Byoung-Kyun Shim),정양근(Yang-Guen Jung),박인만(In-Man Park),황원준(Won-Jun hwang),강언욱(Un-Wook Kang),한성현(Sung-Hyun Han) 한국산업융합학회 2013 한국산업융합학회 논문집 Vol.16 No.4
This paper is the development of industrial robotic hand system and the design methods of industrial robot hand that can mimic human fingers motion. In order to overcome problems incurred during the reduction of the mobility, this study focuses on analyzing human hand structure and finger movements from an anatomical point of view. As a result, distinctive features that improve the discovered stability in constraints for range of motion in the fingers is reflected in this design concept. A 4-bar Linkage is used in robot finger structure. Lastly, there were experiments to inspect the developed robot hands performance. The developed robot hand has many potential applications and can be in many different fields.