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목표물의 거리 및 특징점 불확실성 추정을 통한 매니퓰레이터의 영상기반 비주얼 서보잉
이상협(Sanghyob Lee),정성찬(Seongchan Jeong),홍영대(Young-Dae Hong),좌동경(Dongkyoung Chwa) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.6
This paper proposes a robust image-based visual servoing scheme using a nonlinear observer for a monocular eye-in-hand manipulator. The proposed control method is divided into a range estimation phase and a target-tracking phase. In the range estimation phase, the range from the camera to the target is estimated under the non-moving target condition to solve the uncertainty of an interaction matrix. Then, in the target-tracking phase, the feature point uncertainty caused by the unknown motion of the target is estimated and feature point errors converge sufficiently near to zero through compensation for the feature point uncertainty.
무인 자율 주행 지게차를 위한 네트워크 기반 분산 제어 시스템의 구조
이주경(Jukyung Lee),이상협(Sanghyob Lee),이경창(Kyungchang Lee),이석(Suk Lee) 한국자동차공학회 2010 한국자동차공학회 부문종합 학술대회 Vol.2010 No.5
To enhance the productivity of material handling system in an automated warehouse, an unmanned autonomous forklift will necessitate more elementary functions and systemic integration. However, it is very difficult tasks to integrate various functions for autonomous driving and fork handling. That is because a wiring will rapidly increase when electronic devices such as sensors, actuators, and controllers are increased and the computing capacity of processors will rapidly increase when additional functions are implemented. To reduce these problems, this paper presents an unmanned autonomous forklift with the network-based distributed control system scheme. In the network-based distributed control system scheme, one or two functions are implemented at one microcontroller with a restricted computing capacity and modules are connected with CAN network.
전종기(Jongki Jeon),이상협(Sanghyob Lee),이경창(Kyungchang Lee) 제어로봇시스템학회 2009 제어로봇시스템학회 합동학술대회 논문집 Vol.2009 No.12
Recently, unmanned vehicle such as AGVs(Automatic Guided Vehicles), OHTs(Overhead Hoist Transfers) are widely used in logistic industrial system. This paper focuses on the feasibility of CAN based distributed control network for active unmanned forklift. An active unmanned forklift has many electronic control units(ECU) that link sensor with actuators to handle intelligent function. The increasing number of electronic control units sensors, and actuators in active unmanned forklift, and the increasing need for more intelligent functions requires a network with increased capacity and real-time capability.
퍼지 외란 관측기법을 이용한 아크로봇의 적응형 강인 스윙업 및 밸런싱제어
정성찬(Seongchan Jeong),이상협(Sanghyob Lee),홍영대(Young-Dae Hong),좌동경(Dongkyoung Chwa) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.5
This paper proposes an adaptive robust control method for an acrobot system in the presence of input disturbance. The acrobot system is a typical example of the underactuated system with complex nonlinearity and strong dynamic coupling. Also, disturbance can cause limit cycle phenomenon which appears in the acrobot system around the desired unstable equilibrium point. To minimize the effect of the disturbance, we apply a fuzzy disturbance estimation method for the swing-up and balancing control of the acrobot system. In this paper, both disturbance observer and controller for the acrobot system are designed and verified through mathematical proof and simulations.
박지훈(Jeehun Park),송영훈(Younghun Song),이상협(Sanghyob Lee),이경창(Kyungchang Lee),이석(Suk Lee) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11
Recently, unmanned vehicle such as AGVs(Automatic Guided Vehicles), OHTs(Overhead Hoist Transfers) are widely used in logistic industrial system. This paper focuses on the feasibility of CAN based distributed control network for active unmanned forklift. An active unmanned forklift has many electronic control units(ECU) that link sensor with actuators to handle intelligent function. The increasing number of electronic control units, sensors, and actuators in active unmanned forklift, and the increasing need for more intelligent functions requires a network with increased capacity and real-time capability.