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심병균(Byoung-Kyun Shim),정양근(Yang-Keun Jeong),심현석(Hyun-Seok Shim),이우송(Woo-Song Lee) 한국산업융합학회 2014 한국산업융합학회 논문집 Vol.17 No.4
In this paper, stable and robust dynamic walking for a biped motion is proposed. To success this objective, the following structures are processed. In this paper, the proposed control method is one that adjusts actual zero moment position to move to the closest possible point in the stable area instead of following desired zero moment position. This minimizes energy consumption with the smallest joint movements. The proposed control method makes mechanical energy that drives lower limb of the bipedal robot efficient. In this paper, walking experiment is carried out with the three control structures mentioned above. The trajectory generated by off-line is illustrated by performing to walking on flat ground. experiment with an obstacle whose height is lower than that of trajectory is executed to validate dynamic motion.
모바일과 웹 서비스 연계하여 효율적인 업무협업을 위한 설계방안
제은진(Eun-Jin Je),심현석(Jee-Ho Kim),김지호(Hyun-Seok Shim) 한국IT서비스학회 2010 한국IT서비스학회 학술대회 논문집 Vol.2010 No.9
최근 기업 업무 환경은 처리해야 하는 업무량과 업무 복잡성이 지속적으로 증가하는 한편, 단독으로 처리할 수 있는 일보다는 여타 동료 및 타 부서와 협업해야 하는 환경이 크게 증가하고 있다. 또한, 기업들의 글로벌화가 빠르게 진행되고 고객 밀착형 업무가 늘어나게 됨에 따라 모바일 오피스에 대한 기업의 니즈가 빠르게 증가했다. 이러한 비즈니스 요건을 해결하기 위해서는 다른 시간, 다른 장소에서도 효과적인 협업과 커뮤니케이션을 수행할 수 있는 환경이 뒷받침 돼야 한다. 본 논문은 기업 근무자들이 모바일과 웹을 통해서 실시간으로 업무 협업을 할 수 있도록 시스템을 설계 하였다.
리아프노프 안정성 해석에 기준한 4축 로봇 아암의 비선형 견실제어
현기권(Gi-Kwon Hyeon),심현석(Hyun-Seok Shim),윤대식(Dae-sik Yoon) 한국산업융합학회 2015 한국산업융합학회 논문집 Vol.18 No.3
In this paper, we proposed a new robust control scheme to implement stable control of robot manipulators including nonlinear perameters The proposed robust controller is composed of a nonlinear controller and linear compemsation controller. It shows a good robust performance in reaching mode which does not possess invariance property. Thus, the proposed nonlinear controller showed a good robust performance in the whole region, It was illustrated that the proposed control showed a good transient response and trajectory tracking performance for robot manipulator with four joint by experiments.
Yang-Guen Jung(정양근),Hyun-Seok Shim(심현석),Woo-Song Lee(이우송),Sung-Hyun Han(한성현) 한국산업융합학회 2014 한국산업융합학회 논문집 Vol.17 No.3
This paper proposes a new approach to the designed of visual feedback control system based on visual servoing method. The main focus of this paper is presents how it is effective to use many features for improving the accuracy of the visual feedback control of industrial articulated robot for assembling and inspection of parts. Some rank conditions, which relate the image Jacobian, and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. The effectiveness of redundant features is verified by the real time experiments on a SCARA type robot(FARA) made in samsung electronics company.
이우송(Woo-Song Lee),심현석(Hyun-Seok Shim),하언태(Eun-Tae Ha),김종수(Jong-Soo Kim) 한국산업융합학회 2015 한국산업융합학회 논문집 Vol.18 No.1
We describe a research about remote control of mobile robot based on voice command in this paper. Through real-time remote control and wireless network capabilities of an unmanned remote-control experiments and Home Security / exercise with an unmanned robot, remote control and voice recognition and voice transmission are possible to transmit on a PC using a microphone to control a robot to pinpoint of the source. Speech recognition can be controlled robot by using a remote control. In this research, speech recognition speed and direction of self-driving robot were controlled by a wireless remote control in order to verify the performance of mobile robot with two drives.
이우송(Woo-Song Lee),구영목(Young-Mok Koo),심현석(Hyun-Seok Shim),이상훈(Sang-Hoon Lee),김동엽(Dong-Yeop Kim) 한국산업융합학회 2014 한국산업융합학회 논문집 Vol.17 No.2
The equipment of SCARA robot in processing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS). We can save much efforts and time in adjusting robots to newly defined workcells by using OLPS. A proposed visual calibration scheme is based on position-based visual feedback. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test, and construction of simple silhouette figures. Then, camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection, which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not requirethe precise calculation of tree-dimensional object data and image Jacobian.