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김윤구(Wn-goo Kim),Le Xuan Thu,안종국(Jong-Kug An),김원일(Won-il Kim),한성현(Sung-Hyn Han) 한국기계가공학회 2006 한국기계가공학회 춘추계학술대회 논문집 Vol.2006 No.-
Developed shape awareness technology and vision technology for optical lens slant in this research, and including external form state of lens for the performance verification, developed so that can be good, achieve badness finding. And, establish to existing reflex data because inputting surface badness degree of scratch's standard specification condition directly, and error designed to distinguish from product more than schedule error to badness product by normalcy product within schedule extent after calculate the error comparing actuality measurement reflex data and standard reflex data mutually. Developed system to smallest 1pixel unit though measuring is possible 1pixel as 3.7㎛×3.7㎛(0.1369×10-4㎜2) the accuracy to 10-4㎜ minutely measuring is possible performance verification and trust ability through an experiment prove.
Le Xuan Thu,김윤구(Wn-Goo kim),안종국(Jong-Kug An),박세진(Se-Jin Park),한성현(Sung-Hyun Han) 한국생산제조학회 2006 한국공작기계학회 춘계학술대회논문집 Vol.2006 No.-
The equipment of industrial robot in manufacturing 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 require the precise calculation of tree-dimensional object data and image Jacobian.
Le Xuan Thu,김윤구(Wn-Goo kim),안종국(Jong-Kug An),박세진(Se-Jin Park),한성현(Sung-Hyun Han) 한국기계가공학회 2006 한국기계가공학회 춘추계학술대회 논문집 Vol.2006 No.-
The equipment of industrial robot in manufacturing 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 require the precise calculation of tree-dimensional object data and image Jacobian.
Le Xuan Thu,김윤구(Wn-Goo kim),안종국(Jong-Kug An),박세진(Se-Jin Park),한성현(Sung-Hyun Han) 한국생산제조학회 2006 한국생산제조시스템학회 학술발표대회 논문집 Vol.2006 No.5
The equipment of industrial robot in manufacturing 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 require the precise calculation of tree-dimensional object data and image Jacobian.
한성현(Sung-Hyun Han),Le Xuan Thu,김홍래(Hong-Rae Kim),안종국(Jong-Kug An) 한국생산제조학회 2006 한국공작기계학회 춘계학술대회논문집 Vol.2006 No.-
The equipment of industrial robot in manufacturing 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 require the precise calculation of tree-dimensional object data and image Jacobian.
Le Xuan Thu,한성현(Sung-Hyun Han),김홍래(Hong-Rae Kim),안종국(Jong-Kug An) 한국생산제조학회 2007 한국생산제조시스템학회 학술발표대회 논문집 Vol.2007 No.5
The equipment of industrial robot in manufacturing 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 require the precise calculation of tree-dimensional object data and image Jacobian.
한성현(Sung-Hyun Han),Le Xuan Thu,김홍래(Hong-Rae Kim),안종국(Jong-Kug An) 한국생산제조학회 2006 한국생산제조시스템학회 학술발표대회 논문집 Vol.2006 No.5
The equipment of industrial robot in manufacturing 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 require the precise calculation of tree-dimensional object data and image Jacobian.
한성현(Sung-Hyun Han),신행봉(Haeng-Bong Shin),Le Xuan Thu,안종국(Jong-Kug An) 한국생산제조학회 2006 한국생산제조시스템학회 학술발표대회 논문집 Vol.2006 No.5
We propose a new technique to the development of Intelligent control algorithm based-on digital signal processors in order to improve the precision and robustness for system of industrial robot. Intelligent control has emerged as one of the most active and fruitful areas for research in the applications of fuzzy set theory, especially in the real of industrial processes. In this thesis, a self-organizing fuzzy controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult, SOFC is proposed for a hierarchical control structure consisting of basic level and high level that modify control rules. The proposed scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance is illustrated by simulation and experimental results for SCARA robot.
한성현(Sung-Hyn Han),김윤구(Wn-goo Kim),안종국(Jong-Kug An),조창제(Chang-jae Cho) 한국생산제조학회 2006 한국생산제조시스템학회 학술발표대회 논문집 Vol.2006 No.5
Developed shape awareness technology and vision technology for slant in this research, and including external form state of lens for the performance verification, developed so that can be good, achieve badness finding. And, establish to existing reflex data because inputting surface badness degree of scratch's standard specification condition directly, and error designed to distinguish from product more than schedule error to badness product by normalcy product within schedule extent after calculate the error comparing actuality measurement reflex data and standard reflex data mutually. Developed system to smallest 1 pixel unit though measuring is possible 1 pixel as 3.7㎛×3.7㎛(0.1369×10?⁴㎟) the accuracy to 10?⁴㎜ minutely measuring is possible performance verification and trust ability through an experiment prove.
한성현(Sung-Hyn Han),김윤구(Wn-goo Kim),안종국(Jong-Kug An),조창제(Chang-jae Cho) 한국생산제조학회 2006 한국공작기계학회 춘계학술대회논문집 Vol.2006 No.-
Developed shape awareness technology and vision technology for slant in this research, and including external form state of lens for the performance verification, developed so that can be good, achieve badness finding. And, establish to existing reflex data because inputting surface badness degree of scratch's standard specification condition directly, and error designed to distinguish from product more than schedule error to badness product by normalcy product within schedule extent after calculate the error comparing actuality measurement reflex data and standard reflex data mutually. Developed system to smallest 1 pixel unit though measuring is possible 1 pixel as 3.7㎛×3.7㎛(0.1369×10?⁴㎟) the accuracy to 10?⁴㎜ minutely measuring is possible performance verification and trust ability through an experiment prove.