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Yang-Guen Jung(정양근),Hyun-Seok Shim(심현석),Woo-Song Lee(이우송),Sung-Hyun Han(한성현) 한국산업융합학회 2014 한국산업융합학회 논문집 Vol.17 No.3
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 presents 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.
정양근(Yang-Guen Jung),백승학(Seung-Hak Baek) 한국산업융합학회 2015 한국산업융합학회 논문집 Vol.18 No.2
Two-wheeled driying mobild robots are precise controlled in terms of linear contol methods without considering the nonlinear dynamical characteristics. However, in the high maneuvering situations such as fast turn and abrupt start and stop, such neglected terms become dominant and heavy influence the overall driving performance. This study describes the nonlinear optimal control method to take advantage of the exact nonlinear dynamics of the balancing robot. Simulation results indicate that the optimal control outperforms in the respect of transient performance and required wheel torques. A design example is suggested for the state matrix that provides design flexibility in the control. It is shown that a well-planned state matrix by reflecting the physics of a balancing robot greatly conrtibutes to the driving performance and stability.
박종일(Jong-Il Park),정양근(Yang-Guen Jung),류길수(Keel-Soo Rhyu),김달현(Dal-Hyun Kim),박상우(Sang-Woo Park) 한국마린엔지니어링학회 2009 한국마린엔지니어링학회 학술대회 논문집 Vol.2009 No.-
For stability and economic feasibility, it is very important to deal with monitoring and alarm of the condition of motion, during the operation of all kinds of ship using diesel engine. This paper argues about condition monitoring system using Embedded HMI of Marine Diesel Engine.
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.
인간과 로봇 협력작업을 위한 로봇 지능제어알고리즘 개발에 관한 연구
이우송(Woo-Song Lee),정양근(Yang-Guen Jung),박인만(In-Man Park),정종교(Jong-Gyu Jung),김희진(Hui-Jin Kim),김민성(Min-Seong Kim),한성현(Sung-Hyun Han) 한국산업융합학회 2017 한국산업융합학회 논문집 Vol.20 No.4
This study proposed a new approach to develop an Intelligent control algorithm for cooperative working of human and robot based on voice recognition. In general case of speaker verification, Gaussian Mixture Model is used to model the feature vectors of reference speech signals. On the other hand, Dynamic Time Warping based template matching techniques were presented for the voice recognition about several years ago. We converge these two different concepts in a single method and then implement in a real time voice recognition enough to make reference model to satisfy 95% of recognition performance. In this paper it was illustrated the reliability of voice recognition by simulation and experiments for humanoid robot with 18 joints.