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스마트팩토리 실현을 위한 다중센서기반 모바일로봇의 위치 및 자세제어에 관한 연구
동근한,김희진,배호영,김상현,백영태,한성현 한국산업융합학회 2019 한국산업융합학회 논문집 Vol.22 No.2
This study proposes a new approach to Control the Orientation and position based on obstacle avoidance technology by multi sensors fusion and autonomous travelling control of mobile robot system for implimentation of Smart FA. The important focus is to control mobile robot based on by the multiple sensor module for autonomous travelling and obstacle avoidance of proposed mobile robot system, and the multiple sensor module is consit with sonar sensors, psd sensors, color recognition sensors, and position recognition sensors. Especially, it is proposed two points for the real time implementation of autonomous travelling control of mobile robot in limited manufacturing environments. One is on the development of the travelling trajectory control algorithm which obtain accurate and fast in considering any constraints. such as uncertain nonlinear dynamic effects. The other is on the real time implementation of obstacle avoidance and autonomous travelling control of mobile robot based on multiple sensors. The reliability of this study has been illustrated by the computer simulation and experiments for autonomous travelling control and obstacle avoidance.
김희진,동근한,김동호,장기원,한성현 한국산업융합학회 2020 한국산업융합학회 논문집 Vol.23 No.2
We describe a new approach to implement of trajectory control and track record of articulated manipulator based on monitoring simulator for smart factory. The learning control algorithm was applied in implementation real-time control to provide enhanced motion control performance for robotic manipulators. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, or values of manipulator parameters and payload. Performance of the proposed controller is illustrated by simulation and experimental results for robot manipulator consisting of six joints at the joint space and Cartesian space.by monitoring simulator.
스마트 팩토리를 위한 로봇 모니터링 시스템 시뮬레이터 개발에 관한 연구
김희진,김상현,장기원,김두범,동근한,한성현 한국산업융합학회 2019 한국산업융합학회 논문집 Vol.22 No.5
This study proposes a new approach to implement smart factory based on robot monitoring system for a small and medium sized enterprise. The simulator includes the forward kinematics and inverse kinematics analyzes of articulated robots. We also modeled the dynamics of the robot and made it possible to simulate it in the program. We studied the interface between the user and the monitoring programming system using the GUI environment of Windows OS, and it is configured to select the appropriate trajectory planning and control method. The reliability of simulator is illustrated by simulation test.