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하만돈(Manh-Tuan Ha),이동찬(Dong-Chan Lee),강철구(Chul-Goo Kang) 대한기계학회 2013 대한기계학회 춘추학술대회 Vol.2013 No.12
In a real-time control system with a strict timing constraint, computational time at a low level is crucial for appropriate operation and good performance of the system. This paper presents an analysis of computational time of the real-time control system which is developed for educational and research purposes of motion control. Furthermore, it presents modeling procedure and results of the motion control system including a servomotor and a linear guide. The modeling analysis is verified by experiments and simulations.
견실한 틸팅차량 구동을 위한 독립적인 두 유압실린더의 동기화 제어
강철구(Chul-Goo Kang),하만돈(Manh Tuan Ha),김호연(Ho-Yeon Kim),이준환(Joon-Hwan Lee),이남진(Nam-Jin Lee),이준호(Jun-Ho Lee),한성호(Seong-Ho Han) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.10
Hydraulic actuation systems for tilting trains are usually composed of independent actuators in order to escape from position errors due to bulk modulus of the hydraulic systems. For a hydraulic control system using two independent cylinders, this paper presents the modeling of the hydraulic actuation system, synchronization control logic, and simulation results of the hydraulic control system. The validity of the synchronization control logic is demonstrated through simulation studies.
USB카메라를 이용한 2차원 실시간 구형진자 운동 추적시스템
문병윤(Byung-Yoon Moon),홍성락(Sung-Rak Hong),하만돈(Manh-Tuan Ha),이동찬(Dong-chan Lee),강철구(Chul-Goo Kang) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
Recently, a spherical pendulum attached to an end-effector of a robot manipulator has been frequently used for residual vibration suppression control. However, there were no automatic tracking sensor system to detect the current bob position on-line, and there was inconvenience not to be able to store the bob position in real time. In this paper, we develop a two dimensional realtime bob-detecting system using a digital camera, which includes hardware components and software C programming for fast image processing and interfacing. The developed system is applied to residual vibration suppression control of two dimensional spherical pendulum which is attached at the end-effector of a two degree-of-freedom SCARA robot. The effectiveness of the developed system has been demonstrated through experimental studies.
USB 카메라를 이용한 실시간 구면진자 운동추적 감지시스템
문병윤(Byung-Yoon Moon),홍성락(Sung-Rak Hong),하만돈(Manh-Tuan Ha),강철구(Chul-Goo Kang) 대한기계학회 2016 大韓機械學會論文集A Vol.40 No.9
최근 다차원 운동의 잔류진동억제 제어를 위한 테스트베드로서 로봇 머니퓰레이터의 말단장치에 부착된 구면진자를 자주 활용하고 있다. 하지만 봅의 운동을 온라인에서 실시간으로 추적할 수 있는 자동감지장치가 없어, 봅의 궤적을 디지털데이터로 저장하고 플로팅하는데 불편함이 있었다. 본 논문에서는 디지털 USB 카메라를 이용하여 봅의 운동을 이차원 평면상에서 실시간으로 감지할 수 있는 시스템을 개발하였다. 본 시스템의 개발 목표를 빠른 이미지프로세싱 및 인터페이싱을 위한 하드웨어 구성과 효과적인 C 프로그래밍에 두었다. 개발된 시스템을, 2 자유도 스카라로봇의 말단장치에, 구면진자를 설치한 이차원 구면진자의 잔류진동억제 제어에 적용하여, 그 효용성을 입증하였다. Recently, a spherical pendulum attached to an end-effector of a robot manipulator has been frequently used for a test bed of residual vibration suppression control in a multi-dimensional motion. However, there was no automatic tracking system to detect the current bob position on-line, and there was inconvenience to not be able to store the bob position in real time and plot the trajectory. In this study, we developed a two-dimensional, real-time bob-detecting system using a digital USB camera, of which the key is hardware component design and software C programming for fast image processing and interfacing. The developed system was applied to residual vibration suppression control of a two-dimensional spherical pendulum that is attached at the end-effector of a two degree-of-freedom SCARA robot, and the effectiveness of the developed system has been demonstrated.