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공정 자동화를 위한 싱글 휠 드라이빙 모바일 로봇의 견실제어에 관한 연구
신행봉(Haeng-Bong Shin),차보남(BO-Nam Cha) 한국산업융합학회 2016 한국산업융합학회 논문집 Vol.19 No.2
This paper presents a new approach to control of stable motion of single wheel driving robot system of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel. This robot doesn"t have any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Lagrange equations was applied to derive the dynamic equations of the one wheel driving robot to implement the dynamic speed control of the mobile robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and optical regulator are utilized to prove the reliability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based robust controller has been adopted to reduce the vibration by the situation function. The optimal controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the driving wheel. The control performance of the control systems from a single dynamic model has been illustrated by the real experiments.
신행봉(Haeng-Bong Shin),이우송(Woo-Song Lee),신창록(Chang-lok Shin),노춘수(Chun-Su Roh),김원일(Won-il Kim),한성현(Sung-Hyun Han) 한국생산제조학회 2006 한국공작기계학회 춘계학술대회논문집 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 proposed simulation.
스풀 변위 피드백을 위한 LVDT 적용 비례전자제어밸브의 개발 및 성능평가
신행봉(Haeng-Bong Shin),한성현(Sung-Hyun Han) 한국산업융합학회 2016 한국산업융합학회 논문집 Vol.19 No.3
This study proposes the development and performance evaluation of electronic proportional control valve having an LVDT. The electronic proportional control valve is composed of hydraulic valve, proportional solenoid and controller. LVDT is to reduce the steady state error for the reference input of the controller by the feedback signal to detect the displacement of the spool. Designed LVDT is applied to the common proportional valve. In order to evaluate the performance of the developed valve, the hydraulic test equipment was developed and flow tests were carried out. From experimental results, it was proved that the hysteresis was less than 1% based on the maximum flow rate.
신행봉(Haeng-Bong Shin),이우송(Woo-Song Lee),박인만(In-Man Park),한성현(Sung-Hyun Han) 제어로봇시스템학회 2009 제어로봇시스템학회 합동학술대회 논문집 Vol.2009 No.12
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.
김홍래(Hong-Rae Kim),신행봉(Haeng-Bong Shin),김원일(Won-Il Kim),한성현(Sung-Hyun Han) 한국생산제조학회 2005 한국공작기계학회 추계학술대회논문집 Vol.2005 No.-
In this paper, it is presented a new technique to the design and real-time implementation of fuzzy control system based-on digital signal processors in order to improve the precision and robustness for system of industrial robot. Fuzzy control has emerged as one of the most active and fruitful areas for research in the applications of fuzzy set theory, especially in the real of industrial processes. In this thesis, a self-organizing fuzzy controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis of a FLC, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult, SOFC is proposed for a hierarchical control structure consisting of basic level and high level that modify control rules. The proposed SOFC scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for robot with eight joints.
하영호(Yung-ho ha),신행봉(Haeng-Bong Shin),김윤구(Wn-goo Kim),안종국(Jong-Kug An),한성현(Sung-Hyun Han) 한국생산제조학회 2006 한국공작기계학회 춘계학술대회논문집 Vol.2006 No.-
We p개pose a new technique to the design and real-time implementation of fuzzy control system based-on digital signal processors in order to improve the precision and robustness for system of industrial robot. Fuzzy control has emerged as one of the most active and fruitful areas for research in the applications of fuzzy set theory, especially in the real of industrial processes. In this thesis, a self-organizing fuzzy controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis of a FLC, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult, SOFC is proposed for a hierarchical control structure consisting of basic level and high level that modify control rules. The proposed SOFC scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for Dual-arm robot 8.
한성현(Sung-Hyun Han),신행봉(Haeng-Bong Shin),Le Xuan Thu,안종국(Jong-Kug An) 한국생산제조학회 2006 한국공작기계학회 춘계학술대회논문집 Vol.2006 No.-
We propose a new technique to the development of Intelligent control algorithm based-on digital signal processors in order to improve the precision and robustness for system of industrial robot. Intelligent control has emerged as one of the most active and fruitful areas for research in the applications of fuzzy set theory, especially in the real of industrial processes. In this thesis, a self-organizing fuzzy controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult, SOFC is proposed for a hierarchical control structure consisting of basic level and high level that modify control rules. The proposed scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance is illustrated by simulation and experimental results for SCARA robot.
한성현(Sung-Hyun Han),김윤구(Wn-Goo Kim),Le Xuan Thu,신행봉(Haeng-Bong Shin),김원일(Won-il kim),조창제(Chang-jae Cho) 한국기계가공학회 2006 한국기계가공학회 춘추계학술대회 논문집 Vol.2006 No.-
The wavelet transform is a popular tool for studying intermittent and localized phenomena in signals. In this study the wavelet transform of cutting force signals was conducted for the detection of a tool failure in turning process. We used the Daubechies wavelet analyzing function to detect a sudden change in cutting signal level. A preliminary stepped workpiece which had intentionally a hard condition was cut by the inserted cermet tool and a tool dynamometer obtained cutting force signals. From the results of the wavelet transform, the obtained signals were divided into approximation terms and detailed terms.
초음파 센서 및 음성인식 기반 자율주행로봇의 지능제어에 관한 연구
한성현(Sung-Hyun Han),김윤구(Wn-Goo Kim),Le Xuan Thu,신행봉(Haeng-Bong Shin),조창제(Chang-jae Cho) 한국생산제조학회 2006 한국공작기계학회 춘계학술대회논문집 Vol.2006 No.-
In this paper, it is presented a new approach to the design of intelligent control system of a autonomous robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy neural network, and back propagation algorithm to train the fuzzy neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.