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장완식,백은석 한국공작기계학회 1997 한국생산제조학회지 Vol.6 No.2
This paper presents the development of real-time estimation and control details for a computer vision-based robot control method. This is accomplished using a sequential estimation scheme that permits placement of these points in each of the two-dimensional image planes of monitoring cameras. Estimation model is developed based on a model that generalizes known 4-axis Scorbot manipulator kinematics to accommodate unknown relative camera position and orientation, etc. This model uses six uncertainty-of-view parameters estimated by the iteration method. The method is tested experimentally in two ways ; First the validity of estimation model is tested by using the self-built test model. Second, the practicality of the presented control method is verified in performing 4-axis manipulator's assembly task. These results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as deburring and welding.
적응제어법을 이용한 고속운동 로봇 제어에 관한 아날로그 시뮬레이션 연구(Ⅰ)
장완식,홍명석 조선대학교 생산기술연구소 1993 生産技術硏究 Vol.15 No.1
This paper presents an adaptive control scheme called three-step input method in order to eliminate residual vibration when manipulator reaches its defined end point in the least amount of time. The basic premise is to use open loop self-adjusting input signals that take system dynamic characteristics into account. This command input function is used .that consists of three step inputs, each with different step sizes and switching times that work in concert with the system's dynamic response. The practicality of this control scheme is demonstrated by using the analog computer without theoretical approximations to simulate a simple flexible robot and a conventional servo controller. This experimental simulations focus on point-to-point movement. The three-step procedure is also found to require a small amount of digital computing resources that makes real-time processing, difficulties for cases involving high speed motion
Closed Mouth Impression technique에 관한 연구
장완식,Chang, Wan-Shik 대한치과보철학회 1975 대한치과보철학회지 Vol.13 No.1
The author conducted an clinical study of closed mouth impression technique with a case of complete denture patient of favorable ridge contour to see the effect on the lingual border molding of lower denture. As a result, the shape of the border was formulated a quite different contour from the open mouth impression technique. The obtained contour had to be reshaped considerably. It was found that functional harmony with the surrounding tissue was difficult to be maintained. However, the contour is surely stable and favorable form for the retention of the lower denture provided patient is possible to adapt.
Three-Step Input Control Scheme for Minimization of Robot's Vibration
장완식 한국생산제조학회 1997 한국공작기계학회지 Vol.6 No.4
This paper provides a practical control scheme called three-step input method in order to minimize both robot response time and the resulting residual vibration when the robot manipulator reaches its defined end point. This work is concerned with defining a simple practical method to utilize step inputs to achieve optimum response. The optimum response is achieved by using a self- adjusting input command function that is obtained during a real time processing . The practicality of this control scheme is demonstrated by using an analog computer to simulate a simulate a simple flexible robot and conventional servo controller. The experiments focus on point-to-point movement. Also, this method requires little computational effort through the intelligent use of conventional servo control technology and the robot's vibration characteristics.