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극한환경작업을 위한 산업용 로봇의 원격제어기술에 관한 연구
백승학(Seung-Hack Baek),황원준(Won-Jun Hwang),정성원(Sung-Won Jung) 한국산업융합학회 2015 한국산업융합학회 논문집 Vol.18 No.3
In this paper, it was proposed a new technology to improve the performance of the remote control in virtual reality applications. The operator must know the information of surroundings of the robot, collision possibility of the equipment, and force feedback of the manipulator. The time delay problem occurs in the tele-operating and it causes vibration and expressive power of the manipulator owing to bidirectional force feedback. We presented a new control method to control of the teleoperating system based on serial bus. The reliability is evaluated by simulation.
김태관(Tea-Kwan Kim),백승학(Seung-Hack Baek),김태수(Tea-Soo Kim) 한국산업융합학회 2015 한국산업융합학회 논문집 Vol.18 No.1
In this paper, the repeated learning technique of neural network was used for gripping force control algorithm. The hybrid control system was introduced and the manipulator’s finger reorganized form 2 ea to 3 ea for comfortable gripping. The data was obtained using the gripping force of repeated learning techniques. In the fucture, the adjustable gripping force will be obtained and improved the accuracy using the artificial intelligence techniques.