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이권순 동아대학교 공과대학 부설 한국자원개발연구소 1985 硏究報告 Vol.9 No.1
Conventional robots are driven by servomotors through transmissions such as, geartrains, lead screws, chains and harmonic drives. These mechanisms introduce the following serious problems; a) The friction and backlash in the transmission make accurate positioning difficult. b) The low mechnical stiffness restricts the arm's speed of response. This paper proposes the compensation techniques of the robot manipulator position and orientation. This method is composed of laser beams, 3-dimensional scanning devices and optical sensors attached to the end-effector. The current position and Orientation is on-line calculated with the micro- computer. If we minimizes the errors between the desired path and current information, the robot motion accuracy will be improved. Also, its futher development will be equipped the intelligent robot functions.
면역 알고리즘을 이용한 AGV의 2자유도 PID 조향 제어기 설계에 관한 연구
이창훈,이진우,이영진,이권순 동아대학교 정보기술연구소 2002 情報技術硏究所論文誌 Vol.9 No.2
Immune system is an evolutionary biological system to protect innumerable foreign materials such as virus, germ cell, and et cetera. Immune algorithm is the modeling of this system's response that has adaptation and reliableness when disturbance occur. In this paper, Immune algorithm controller was proposed to control four wheels steering(4ws). Automated Guided vehicle(AGV) in container yard. And then the simulation result was analysed and compared with result of Neural Network PID controller.
이영진,손주한,조현철,이권순 동아대학교 정보기술연구소 2000 情報通信硏究所論文誌 Vol.8 No.1
In this paper, cell-mediated immune algorithm(CMIA) controller was proposed and applied for the autonomous guided vehicle(AGV) driving. It was based on specific immune response of the biological immune system which is the cell-mediated immunity. To verify the performance of the designed CMIA controller, some experiments were performed for the control of steering and speed of AGV. And then the displacement and speed tracking error of the AGV was mainly investigated. As a result, the capability of realization and reliableness were proved by comparing the response characteristics of the classical controller with the proposed CMIA controller
誘起電壓 檢出에 의한 無整流子電動機의 始動에 관한 硏究
정형환,주수원,이권순 동아대학교 공과대학 부설 한국자원개발연구소 1985 硏究報告 Vol.9 No.2
Today, the commutatorless motor is widely sued and studided. And, the driving methed is presented. The natural commutation using the thyristor invertor is not needed the supplementary circuits and simplified the control circuits Therefore, it is expected that the reliability is increasing But, the main defects of the motor is needed the position detecting devices attached to the motor outside And, certain mechanical attachment errors affect the output and efficiency of the motor Therefore, this paper proposes the motor driving techniques without the using of the supplementary devices. With the detection of inducing voltage, control of thyristor and zero-crossing signals, it is achieved Also, it is stable and practicable in a whole ranges.