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한성현(Sung-Hyun Han),Le Xuan Thu,김홍래(Hong-Rae Kim),정인보(In-bo Jeong) 한국생산제조학회 2006 한국공작기계학회 춘계학술대회논문집 Vol.2006 No.-
In this paper, it is presented a new scheme of adaptive control system to implement real-time control of robot manipulator. Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust performance for application of robot control. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method. Through simulation, the proposed adaptive control scheme is proved to be a efficient control technique for real-time control of robot system using Digital Signal Processors.
한성현(Sung-Hyun Han),Le Xuan Thu,김홍래(Hong-Rae Kim),정인보(In-bo Jeong) 한국생산제조학회 2006 한국생산제조시스템학회 학술발표대회 논문집 Vol.2006 No.5
In this paper, it is presented a new scheme of adaptive control system to implement real-time control of robot manipulator. Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust performance for application of robot control. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method. Through simulation, the proposed adaptive control scheme is proved to be a efficient control technique for real-time control of robot system using Digital Signal Processors.
김윤구(Wn-goo Kim),강명호(Myong-ho Kang),안종국(Jong-Kug An),정인보(In-bo Jeong),한성현(Sung-Hyn Han) 한국기계가공학회 2006 한국기계가공학회 춘추계학술대회 논문집 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 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.
한성현,Le Xuan Thu,김홍래,정인보 한국공작기계학회 2006 한국공작기계학회 추계학술대회논문집 Vol.2006 No.-
In this paper, it is presented a new scheme of adaptive control system to implement real-time control of robot manipulator. Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust performance for application of robot control. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method. Through simulation, the proposed adaptive control scheme is proved to be a efficient control technique for real-time control of robot system using Digital Signal Processors.