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심병균(Byoung-Kyun Shim),정양근(Yang-Guen Jung),박인만(In-Man Park),황원준(Won-Jun hwang),강언욱(Un-Wook Kang),한성현(Sung-Hyun Han) 한국산업융합학회 2013 한국산업융합학회 논문집 Vol.16 No.4
This paper is the development of industrial robotic hand system and the design methods of industrial robot hand that can mimic human fingers motion. In order to overcome problems incurred during the reduction of the mobility, this study focuses on analyzing human hand structure and finger movements from an anatomical point of view. As a result, distinctive features that improve the discovered stability in constraints for range of motion in the fingers is reflected in this design concept. A 4-bar Linkage is used in robot finger structure. Lastly, there were experiments to inspect the developed robot hands performance. The developed robot hand has many potential applications and can be in many different fields.
심병균(Byoung kyun Shim),김준홍(Jun-Hong Kim),오세봉(Se-Bong Oh),한성현(Sung-Hyun Han) 한국생산제조학회 2009 한국공작기계학회 추계학술대회논문집 Vol.2009 No.-
This paper is the development of industrial robot hand's and the design methods of industrial Robot hand that can mimic human fingers motion. In order to overcome problems incurred during the reduction of the mobility, this study focuses on analyzing human hand structure and finger movements from an anatomical point of view. As a result, distinctive features that improve the discovered stability in constraints for range of motion in the fingers is reflected in this design concept. A 4-bar Linkage is used in robot finger structure. Lastly, there were experiments to inspect the developed robot hands performance. The developed robot hand has many potential applications and can be in many different fields.
심병균(Byoung-Kyun Shim),오세봉(Se-Bong Oh),Nguyen Huu Cong,한성현(Sung-Hyun Han) 한국기계가공학회 2008 한국기계가공학회 춘추계학술대회 논문집 Vol.2008 No.-
This paper achieves a research about avoidance of obstacles avoidance based on ultrasonic sensor. The performance of the proposed obstacle avoidance robot controller in order to determine the exact dynamic systems modeling system that uncertainty is difficult for nomadic controlled robot direction angle by ultrasonic sensors throughout controlled performance tests. In additionally, this study is an in different ways than the self-driving simulator in the development of ultrasonic sensors and unmanned remote control techniques used by the self-driving robot controlled driving through an unmanned remote controlled unmanned realize the performance of factory automation.
A Study on Visual Feedback Control of Industrial Articulated Robot
Byoung-Kyun Shim(심병균),Woo-Song Lee(이우송),In-Man Park(박인만),Won-Jun hwang(황원준),Young-Sik Choi(최영식) 한국산업융합학회 2014 한국산업융합학회 논문집 Vol.17 No.1
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 presented 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.
A Study on Visual Feedback Control of Industrial Articulated Robot
Byoung-Kyun Shim(심병균),Sung-Hyun Han(한성현) 한국기계가공학회 2013 한국기계가공학회지 Vol.12 No.1
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 presented 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.
심병균(Byoung-Kyun Shim),한성현(Sung-Hyun Han) 한국기계가공학회 2011 한국기계가공학회지 Vol.10 No.6
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.
Real-Time Obstacle Avoidance of Mobile Robot Based on Ultrasonic sensor
심병균(Byoung Kyun Shim),Nguyen Van Quyet,이우송(Woo-Song Lee),김준홍(Jun-Hong Kim),한성현(Sung-Hyun Han) 한국지능시스템학회 2010 한국지능시스템학회 학술발표 논문집 Vol.20 No.1
This paper present the theoretical development of a complete navigation problem of a nonholonomic mobile robot by using sonar sensors. To solve this problem, a new method to compute a fuzzy perception of the environment is presented, dealing with the uncertainties and imprecision from the sensory system and taking into account nonholonomic constraints of me robot. Fuzzy perception, fuzzy controller are applied, both in the design of each reactive behavior and solving the problem of behavior combination, to implement a fuzzy behavior-based control architecture. Different experiments in populated environments have proved to be very successful. Our method is able to guide the RD_Robo safety and efficiently during long experimental time.
Design of Three - Finger Hand System
Byoung-Kyun Shim(심병균),Woo-Song Lee(이우송),In-Man Park(박인만),Won-Jun hwang(황원준),Won-Il Kim(김원일) 한국산업융합학회 2014 한국산업융합학회 논문집 Vol.17 No.1
The focus of this paper is the designing a flexible three fingered hand system with 16 D.O.F for dynamic manipulation with an intelligent controller, and to build a useful database for dynamic manipulation based on the experimental results. The weight of the hand module is only 0.7 kg, but flexible motion and powerful grasping are possible. To achieve such a dynamic motion in a robotic hand, we have developed a flexible fingered hand with a control system incorporating image recognition system in which we deal with the problems of not only accuracy and range of motion but also the flexibility of hand. The fingers are arranged so as to grasp both circular and prismatic objects. In order to achieve the light mechanism, we reduced the number of joints and fingers as much as possible. We used three fingers, which is the minimum number to achieve a stable grasp.