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3D 비접촉 인식을 이용한 냉연코일 테이프부착 로봇 개발
신찬배(Chan-Bai Shin),김진대(Jin-Dae Kim) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.11
Recently taping robot with smart recognition function have been studied in the coil manufacturing field. Due to the difficulty of 3D surface processing from the complicated working environment, it is not easy to accomplish smart tape attachment motion with non-contact sensor. To solve these problems the applicable surface recognition algorithm and a flexible sensing device has been recommended. In this research, the fusion method between 1D displacement and 3D laser scanner is applied for robust tape attachment about cold rolled coil. With these sensors we develop a two-step exploration and the smart algorithm for the awareness of non-aligned coil’s information. In the proposed robot system for tape attachment, the problem is reduced to coil’s radius searching with laser displacement sensor at first, and then position and orientation detection with 3D laser scanner. To get the movement at the robot’s base frame, the hand-eye compensation between robot’s end effector and sensing device should be also carried out respectively. In this paper, we examine the auto-coordinate transformation method in the calibration step for the real environment usage. From the experimental results, it was shown that the taping motion of robot had a robust under the non-aligned cold rolled coil.
CCD카메라와 레이저 센서를 조합한 지능형 로봇 빈-피킹에 관한 연구
신찬배(Chan-Bai Shin),김진대(Jin-Dae Kim),이재원(Jeh-Won Lee) 대한전기학회 2007 대한전기학회 학술대회 논문집 Vol.2007 No.4
In this paper we present a new visual approach for the robust bin-picking in a two-step concept for a vision driven automatic handling robot. The technology described here is based on two types of sensors: 3D laser scanner and CCD video camera. The geometry and pose(position and orientation) information of bin contents was reconstructed from the camera and laser sensor, these information can be employed to guide the robotic arm. A new thinning algorithm and constrained hough transform method is also explained in this paper. Consequently, the developed bin-picking demonstrate the successful operation with 3D hole object.
시간지연 시스템을 위한 리아푸노브 이론 기반 상태 피드백 제어기 설계
조현철(Hyun Cheol Cho),신찬배(Chan Bai Shin) 대한전기학회 2013 전기학회논문지 Vol.62 No.1
This paper presents a new state feedback control approach for communication networks based control systems in which control input and output observation time-delay natures are generally occurred in practice. We first establish a generic state feedback control framework based on well-known linear system theory. A maximum time-delay value which allows critical stability of whole control system are defined to make a positive definite Lyapunov function which is mathematically composed of controlled system states. We analytically derive its control parameters by using a steepest descent optimization method in order to guarantee a stability condition through Lyapunov theory. Computer simulation is numerically carried out for demonstrating reliability of the proposed NCS algorithm and a comparative study is accomplished to prove its superiority for which the traditional control approach for NCS is made use of under same simulation scenarios.