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역모델을 이용한 로보트 매니퓰레이터의 견실한 독립 다변수 제어기 설계
韓聖鉉 慶南大學校 附設 工業技術硏究所 1993 硏究論文集 Vol.11 No.-
기존의 산업용 로보트 제어기는 작업중 고속운전이나 빈번한 부하변동 및 미지의 외란에 의해 역학적으로 나타나게 되는 각 관절간의 연성(coupling)및 파라미터 불확실성의 영향으로 로보트 제어기의 성능과 그 응용범위에 크게 제약을 받고 있으므로 이러한 기존의 산업용 로보트 제어기의 새로운 설계방법의 개선 및 성능향상을 위한 새로운 구조의 견실한 로보트 제어기를 설계한다. 로보트 제어기의 기본 구조는 극배치(pole placement) 방법에 의한 피이드백제어기와 역시스템(inverse system)을 이용한 피이드포워드제어기로 구성되는 독립다변수 제어기로 설계된다. 제안된 제어기는 매니퓰레이터의 관성파라미터의 불확실성 및 부하변동 등의 많은 외란에 대한 성능시험결과 기존의 로보트 제어기에 비하여 매우 향상된 견실성과 정밀성을 유지하였다. This paper proposes a new approach to the design of multivariable control schemes for assembly robot manipulator to achieve accuracy trajectory tracking by joint angles. The proposed control scheme consists of a multivariable feedforward controller and a feedback controller. In this control scheme, the feedback controller is proportional-integral-derivative type and is designed to achieve the pole placement. The feedforward controller is the inverse of the linealized model of robot manipulator dynamics. The feedback controller ensures that each joint tracks any reference trajectry. The proposed robot controller scheme has a computationally efficient schemes for either off_line gain scheduling or on_line gain computation to account for variations in the linealized robot dynamic model due to changes in operating point. The simulation results demonstrate that the proposed control schemesperporms remarkably well for parameter uncertainties and load variations.
일부 근로자들의 예방행태가 신체적 자각증상에 미치는 영향에 관한 연구
한성현 순천향대학교 1994 논문집 Vol.17 No.1
The data of this study were collected with cross sectional survey from 520 workers of a gas heating of instrument manufacturing factory in Inchon. The symptom prevalence rate during last 15 days was 7.5 %, and incidence rate of accidental injuries was 3.1 %, Only 49% of the workers evaluated themselves healthy. The proportion of workers who felt their present health status worse than health status at employment was 33.5 %. According to questions for health behaviers, status of meat preference and physical exercise were selected statistically significant variables to self-evaluated health status variables and smoking were also selected as significant variables for official workers (P<0.01).
한성현 한국공작기계학회 2003 한국공작기계학회지 Vol.12 No.2
서둘러 집을 나선 이른 아침, 집 앞에 주차된 차에 다가간다. 자동으로 문이 열린다. 차안의 라디오에서는 내취향의 음악이 나온다. 공항에 도착해 비행기에 탑승하자 바로 방송이 들린다. "어서 오십시오. 당신의 좌석번호는 4A입니다. 예정 비행시간은 이륙 후 10시간 30분입니다." 비행기 요금은 자동으로 내 계좌에서 이체된다
한성현,박종안,손부순,이종화,장봉기,염윤기 순천향대학교 기초과학연구소 2002 순천향자연과학연구 논문집 Vol.8 No.2
This study was designed to identify the recognition and practice for delivery method of living waste, to find out the problem of currently delivery system of living waste and to recommend the more effected waste delivery system in Asan city. The size of sample was 1100 households of 50000 households who live in Asan area. The data was collected by questionnaire from June 1999 to May 2000, and the results were as follows; 1. The 58% respondents(housewives) has been answered to know for recycling method of living waste, and 50% of the respondents has been discharge separately the food. 2. The respondents has been answered that the priority for effected method of living waste delivery system in to discharge separately the living waste, to reduce the consumption and to charge for vinyl package.
한성현 순천향대학교 1993 논문집 Vol.16 No.3
The purpose of this study were to establish a database related to worker's health, to establish a decision support system for worker's health, and to develop a program that automatically calculates essential health indices using this system. The target company was a medium-sized factory in Inchun city was a self-operating medical facility. By establishing an information system. The database was established from the input datas(general medical examination data, special medical examination data, medical service office utilization data, and personnel record data) and the outputs of a summary table of persons who need detailed medical examination, diseased person post-management opinion report, and other statistical indices were produced.
한성현,이우송,김윤구,김홍래,조창제 한국공작기계학회 2006 한국공작기계학회 추계학술대회논문집 Vol.2006 No.-
This paper proposed trajectory tracking control of Mobile Robot. Trajectory tracking control scheme are Real coding Genetic-Algorithm and Back-propergation Algorithm. Control scheme ability experience is proposed by simulation.
한성현,Le Xuan Thu,김홍래,안종국 한국공작기계학회 2006 한국공작기계학회 추계학술대회논문집 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.