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PSD 센서 및 Back Propagation 알고리즘을 이용한 AM1 로봇의 견질 제어
정동연,한성현,Jung, Dong-Yean,Han, Sung-Hyun 한국산업융합학회 2004 한국산업융합학회 논문집 Vol.7 No.2
Neural networks are used in the framework of sensor based tracking control of robot manipulators. They learn by practice movements the relationship between PSD(an analog Position Sensitive Detector) sensor readings for target positions and the joint commands to reach them. Using this configuration, the system can track or follow a moving or stationary object in real time. Furthermore, an efficient neural network architecture has been developed for real time learning. This network uses multiple sets of simple back propagation networks one of which is selected according to which division (Corresponding to a cluster of the self-organizing feature map) in data space the current input data belongs to. This lends itself to a very training and processing implementation required for real time control.
정동연,이우송,안인모,한성현 한국공작기계학회 2001 한국공작기계학회 춘계학술대회논문집 Vol.2001 No.-
In this paper, we have proposed a new approach to the design of robot vision system to develop the technology for the automatic test and assembling of precision mechanical and electronic parts for the factory automation. In order to perform real time implementation of the automatic assembling tasks in the complex processes, we have developed an intelligent control algorithm based-on neural networks control theory to enhance the precise motion control. Implementing of the automatic test tasks has been performed by the real-time vision algorithm based-on TMS320C31 DSPs. It distinguishes correctly the difference between the acceptable and unacceptable defective item through pattern recognition of parts by the developed vision algorithm. Finally, the performance of proposed robot vision system has been illustrated by experiment for the similar model of fifth cell among the twelve cell for automatic test and assembling in S company.
정동연,김종수,한성현 한국공작기계학회 2003 한국공작기계학회 추계학술대회논문집 Vol.2003 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.