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채장범,범진환,Kim Jung-Min 대한기계학회 2012 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.26 No.8
In this paper, an adaptive neural controller is proposed for visual servoing of robot manipulators with camera-in-hand configuration. The controller is designed as a combination of a PI kinematic controller and feedforward neural network controller that computes the required torque signals to achieve the tracking. The visual information is provided using the camera mounted on the end-effector and the defined error between the actual image and desired image positions is fed to the PI controller that computes the joint velocity inputs needed to drive errors in the image plane to zero. Then the feedforward neural network controller is designed such that the robot's joint velocities converges to the given velocity inputs. The stability of combined PI kinematic and feedforward neural network computed torque is proved by Lyapunov theory. It is shown that the neural network can cope with the unknown nonlinearities through the adaptive learning process and requires no preliminary off learning. Simulation results are carried out for a three degrees of freedom microbot robot manipulator to evaluate the controller performance.
핵연료교환기 이상 진단 기술 개발 : 브리지 bridge assembly
채장범,김태환 대한설비관리학회 2004 대한설비관리학회지 Vol.9 No.3
Fuelling machines are used to exchange fuels almost everyday in CANDU plants. The ways to monitor and diagnose them have been requested due to its operational importance. In this paper, a new method to diagnose fuelling machine is introduced especially for the bridge assembly. Since the bridge assembly is in the reactor room, no access is allowed while operating. Therefore, diagnostic signals must be obtained remotely. The currents and the voltages of the electric motors were measured and they were further processed to extract the diagnostic signatures. Motor torque was estimated and examined as a diagnostic signature. It provides the information regarding loads on and movements of the bridge assembly which are the two important variables to evaluate the condition. Finally the developed methods are validated through the experiments performed in the laboratory.