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A Study on Gripping Control of Robotic Hand with Ten Joints for Cooperative Working |
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Moon Youl Park, Jun Seok Yang, Young Mok Koo(Kyungnam University, Republic of Korea), Yang Keun Jeong(Sinla Information Technology Co., Ltd., Republic of Korea), Eon Uck Kang(Ubitron Co., Ltd., , Republic of Korea), Sung Hyun Han(Kyungnam University, Republic of Korea) |
| Recently it is very important to control robot hands more compact and precise sensors in order to increase compensate the grasping capability and to reduce cabling through the finger in the manipulator. As a matter of fact, the miniaturization and cabling harness represents a significant limitation to the design of small sized precise sensor. The main focus of this research is on a robust grasping control of hand fingers, which consists of a flexible multi-fingered with ten joints |
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A Study on Travelling Control of Humanoid Type Mobile Robot with Three Wheel |
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Byung Kyun Shim, Young Mok Koo, Jun Seok Yang, Moon Youl Park(Kyungnam University, Republic of Korea), In Man Park(Intem Co., Ltd., , Republic of Korea), Won Jun Hwang(Gyeongnam Technopark, Republic of Korea), Sung Hyun Han(Kyungnam University, Republic of Korea) |
| We Present a new technique to control of mobile robot for trajectory Tracking based fuzzy perception concept with robot named HMRO-I. The main focus of this paper is obtaining a fuzzy perception of the environment in the design of each reactive behavior and solving the problem of behavior combination to implement a fuzzy behavior based control architecture. It should be remarked that, the proposed technique of the nonholonomic constraints are considered in the design of each behavior. Furthermore, in order to improve the capabilities of the intelligent control system and its practical applicab |
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An Intelligent Motion Control of Two Wheel Driving Robot based Voice Recognition |
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Young-Mok Koo, Jun Seok Yang, Moon Youl Park(KyungNam University, Republic of Korea), Eon Uck Kang(Ubitron Co. Ltd.,, Republic of Korea), Won Jun Hwang(Gyeongnam Technopark, Republic of Korea), Woo Song Lee(Sungsanam Deco Co.,Ltd.,, Republic of Korea), Sung Hyun Han(KyungNam University, Republic of Korea) |
| Recently, it is possible to control the motion by the information on the robot’s own postures, because a type of motion and gesture produces almost the same pattern of noise every time. In this paper, we describe an voice recognition control system for robot system which can robustly recognize voice by adults and children in noisy environments. We evaluate the performance of robot control system in a communication robot placed in a real noisy environment. Voice is captured using a wireless microphone. To suppress interference and noise and to attenuate reverberation, we implemented a multi-cha |
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A Study on Precise Control of Industrial Robot Arm for Manufacturing Process Automation |
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Jun Seok Yang, Yong Mok Koo, Moon Youl Park(KyungNam University, Republic of Korea), Hyung Suk Sim(DongSan Tech Co., Ltd, Republic of Korea), Huu Cong Nguyen(Michelin Vietnam Co., Ltd., , Republic of Korea), Sung Hyun Han(KyungNam University, Republic of Korea) |
| In this paper, we present two kinds of robust control schemes for robot system which has the parametric uncertainties. In order to compensate these uncertainties, we use the neural network control system that has the capability to approximate any nonlinear function over the compact input space. In the proposed control schemes, we need not derive the linear formulation of robot dynamic equation and tune the parameters. We also suggest the robust adaptive control laws in all proposed schemes for decreasing the effect of approximation error. To reduce the number of neural of network, we consider |
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