• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.152-155
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• 1991

A solution to the problem of robot manipulator tracking of a smoothly moving object is given. It is shown that fuzzy prediction rule, fuzzy control can compensate the adverse effects of noise, time delay, unknown object trajectory, and robot modeling uncertainty. Simulations show that the fuzzy logic control results in acceptable precision,

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.548-548
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• 2000

This paper measures and compares time delays between CORBA, DCOM, TSpaces Objects designed for distributed control systems. To compare time delay for each object, this paper implements the ball and beam control system. And the reasons of delay have been studied.

• 제어로봇시스템학회논문지
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• 제17권2호
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• pp.88-92
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• 2011

This paper looks at the development of the visual system of robots, and the development of image processing algorism to measure the size of an object and the distance from robot to an object for the visual system. Robots usually get the visual systems with a camera for measuring the size of an object and the distance to an object. The visual systems are accurately impossible the size and distance in case of that the locations of the systems is changed and the objects are not on the ground. Thus, in this paper, we developed robot's visual system to measure the size of an object and the distance to an object using two cameras and two-degree robot mechanism. And, we developed the image processing algorism to measure the size of an object and the distance from robot to an object for the visual system, and finally, carried out the characteristics test of the developed visual system. As a result, it is thought that the developed system could accurately measure the size of an object and the distance to an object.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1071-1076
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• 2003

In this work, we propose a new framework of robot control for a variety of applications to our unstructured everyday environments. Programming robots can be a very time-consuming process and seems almost impossible for ordinary end users. To cope with this, this work is to provide a software framework for building robot application programs automatically, where we have robots learn how to accomplish a commanded task from the object. An integrated sensing and computing tag is embedded into every single object in the environment. In the robot controller, only the basic software libraries for low-level robot motion control are provided from the robot manufacturer. The main contributions of this work is to develop a server platform that we call Omniscient Server that generates the application programs and send them to the robot controller through the network. The object-related information from the object server merges into robot control software to generate a detailed application program based on the task commands from the human. We have built a test bed and demonstrated that a robot can perform a common household task within the proposed framework.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.391-393
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• 2005

Automatic guided vehicle(AGV) in the factory has an important role to advance the flexible manufacturing system. In this paper, we propose a novel object-transportation control algorithm of cooperative AGV systems to apply decentralized control scheme based on virtual-passivity. It is shown that the cooperative AGV systems ensure stability and the convergence to scaled multiple of each desired velocity field for multiple AGV systems. Finally, the application of proposed virtual passivity-based decentralized control algorithm via system augmentation is applied to be the tracking a circle. Also. the simulation results for the object-transportation by two AGV systems illustrate the validity of the proposed control scheme.

• 대한전기학회논문지:시스템및제어부문D
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• 제55권6호
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• pp.261-263
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• 2006

Automatic guided vehicle(AGV) in the factory has an important role to advance the flexible manufacturing system. In this paper, we propose a novel object-transportation control algorithm of cooperative AGV systems to apply decentralized control scheme based on virtual-passivity. It is shown that the cooperative AGV systems ensure stability and the convergence to scaled multiple of each desired velocity field for multiple AGV systems. Finally, the application of p reposed virtual passivity-based decentralized control algorithm via system augmentation is applied to be the tracking a circle. Also, the simulation results for the object-transportation by two AGV systems illustrate the validity of the proposed control scheme.

• 제어로봇시스템학회논문지
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• 제10권8호
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• pp.696-702
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• 2004

An optimal trajectory generation algorithm for capturing a moving object by a mobile robot in real-time is proposed in this paper. The linear and rotational velocities of the moving object are estimated using the Kalman filter, as a state estimator. For the estimation, the moving object is tracked by a 2-DOF active camera mounted on the mobile robot, which enables a mobile manipulator to track the mobile robot until the capturing moment. The optimal trajectory for capturing the moving object is dependent on the initial conditions of the mobile robot as well as the moving object. Therefore, real-time trajectory planning for the mobile robot is definitely required for the successful capturing of the moving object. The performance of proposed algorithm is verified through the real experiments and the superiority is demonstrated by comparing to other algorithms.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1779-1784
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• 1991

The problem of fine manipulation is considered in this paper. By fine manipulation, we mean the positioning of the object relative to the palm as opposed to gross manipulation by the arm. The compliance in the fingers and the object is modeled by linear springs. It is shown that the motion of the fingers and object can be predicted by minimizing a quadratic objective function. A method for simulating position control algorithms is developed.

• Journal of the Optical Society of Korea
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• 제13권3호
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• pp.379-385
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• 2009

The vergence control of binocular stereoscopic camera is the most essential factor for acquiring high quality stereoscopic images. In this paper, we proposed a binocular stereoscopic camera vergence control method using disparity information by the simple image processing and estimate the quantity of vergence control using the Lagrange interpolation equation. The method of extracting disparity information through image processing is as follows: first the key-object in left & right images was extracted through labeling of the central area of the image, and then a simple method was used for calculating the disparity value of the same key-object in the labeled left and right images. The vergence control method uses disparity information and keeps the convergence distance of left & right cameras and the distance of the key-object the same. According to the proposed method, variance in the distance of the key-object and application of calculated disparity information of obtained left & right images to the quadratic Lagrange interpolation equation could estimate the quantity of vergence control, which confirmed that the method of stereoscopic camera vergence control can be simplified through experiments on various key-objects and other convergence distance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.99.5-99
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• 2002

$\textbullet$ 3-D object tracking framework $\textbullet$ Using fast stereo vision system for range image $\textbullet$ Using CONDENSATION algorithm to tracking object $\textbullet$ For recognizing object, superquardrics model is used $\textbullet$ Our target object is like coils in steel works