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A Study on Visual Feedback Control of Industrial Articulated Robot
Byoung-Kyun Shim(심병균),Woo-Song Lee(이우송),In-Man Park(박인만),Won-Jun hwang(황원준),Young-Sik Choi(최영식) 한국산업융합학회 2014 한국산업융합학회 논문집 Vol.17 No.1
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 presented 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.
A Study on Visual Feedback Control of Industrial Articulated Robot
Byoung-Kyun Shim(심병균),Sung-Hyun Han(한성현) 한국기계가공학회 2013 한국기계가공학회지 Vol.12 No.1
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 presented 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.
심병균(Byoung-Kyun Shim),한성현(Sung-Hyun Han) 한국기계가공학회 2011 한국기계가공학회지 Vol.10 No.6
We describe a research about remote control of mobile robot based on voice command in this paper. Through real-time remote control and wireless network capabilities of an unmanned remote-control experiments and Home Security / exercise with an unmanned robot, remote control and voice recognition and voice transmission are possible to transmit on a PC using a microphone to control a robot to pinpoint of the source. Speech recognition can be controlled robot by using a remote control. In this research, speech recognition speed and direction of self-driving robot were controlled by a wireless remote control in order to verify the performance of mobile robot with two drives.
심병균(Byoung Kyun Shim),엄재홍,황원종(Won Jong Hwang),한성현(Sung Hyun Han) 한국생산제조학회 2011 한국생산제조시스템학회 학술발표대회 논문집 Vol.2011 No.4
This paper achieves a research about remote control of robot based on voice recognition. Through real-time remote control and wireless network capabilities of an unmanned remote-control experiments and Home Security / exercise with an unmanned robot, remote control and voice recognition and voice transmission are possible to transmit on a PC using a microphone to control a robot to pinpoint of the source. Speech recognition can be controlled robot by using a remote control. In this research, speech recognition speed and direction of self-driving robot were controlled by a wireless remote control in order to verify the performance of mobile robot controller.
심병균(Byoung kyun Shim),김준홍(Jun-Hong Kim),오세봉(Se-Bong Oh),한성현(Sung-Hyun Han) 한국생산제조학회 2009 한국생산제조시스템학회 학술발표대회 논문집 Vol.2009 No.10
This paper is the development of industrial robot hand's 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.
심병균(Byoung-Kyun Shim),Nguyen Huu Cong,김준홍(Jun-Hong Kim),조창제(Chang-Jae Cho),한성현(Sung-Hyun Han) 한국생산제조학회 2009 한국생산제조시스템학회 학술발표대회 논문집 Vol.2009 No.5
This paper achieves a research about avoidance of obstacles avoidance based on ultrasonic sensor. The performance of the proposed obstacle avoidance robot controller in order to determine the exact dynamic systems modeling system that uncertainty is difficult for nomadic controlled robot direction angle by ultrasonic sensors throughout controlled performance tests. In additionally, this study is an in different ways than the self-driving simulator in the development of ultrasonic sensors and unmanned remote control techniques used by the self-driving robot controlled driving through an unmanned remote controlled unmanned realize the performance of factory automation.
심병균(Byoung kyun Shim),김준홍(Jun-Hong Kim),Nguyen Van Quyet,강창학(Chang Hak Kang),한성현(Sung-Hyun Han) 한국생산제조학회 2009 한국생산제조시스템학회 학술발표대회 논문집 Vol.2009 No.5
This paper is the development of industrial robot hand's 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.
심병균(Byoung kyun Shim),김준홍(Jun-Hong Kim),Nguyen van Quyet,강창학(Chang Hak Kang) 한국생산제조학회 2008 한국생산제조시스템학회 학술발표대회 논문집 Vol.2008 No.10
This paper is the development of industrial robot hand's 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.
심병균(Byoung-kyun Shim),이우송(Woo-Song Lee),Nguyen Van Quyet,Nguyen Huu Cong,한성현(Sung-Hyun Han) 한국생산제조학회 2008 한국생산제조시스템학회 학술발표대회 논문집 Vol.2008 No.5
The purpose of this research is to develop the robot vision technology based on pattern recognition for non-contacting inspection optical lens slant or precision parts, and including external form state of lens or electronic parts for the performance verification, this development can 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 37㎛×37㎛ (0.1369×10-4㎟) the accuracy to 1.5×10-4㎜?⁴ minutely measuring is possible performance verification and trust ability through an experiment prove.