• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1281-1284
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• 1997

In this article, the configuration of weight lifer is analyzed using manipulibility polytope. After modeling body as 7-link redundant robot, optimal joint angles during first stage are searched by dynamic programmi technique and compared with standard reference data.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1573-1576
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• 1997

In this paper we present an associative menory network(AMN) controller for learning of robot trajectories. We use AMN controller in order to improve the performance of conventional learning control, e.g. RCL, which had studied by Sadegh et al. Computer simulations show the feasibility and effectiveness of the proposed AMN controller.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1609-1612
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• 1997

Kinematically redundantant manipulators have a nimber of potential advantages over nonredundant ones. Questions associated with manipulability measures for (non)redundant manipulators derived by minimum 2-norm solution and minimum infinity-norm solution in unit joint velocity are examined in detail.

• Journal of the KSME
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• v.34 no.10
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• pp.780-786
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• 1994

지금까지는 많은 노력이 로봇자체의 지능화 노력과 각종 센서의 개발과 활용기술의 발달로 로 봇이 작업상황과 환경을 쉽게 인식할 수 있게 되었으며, 이러한 센서들의 원리와 응용에 대한 정보는 문헌에서 쉽게 찾아 볼 수 있다. 따라서 여기서는 로봇제어의 관점에서 본 인공지능의 활용측면에서 서술하고자 한다.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1-7
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• 1993

In this paper we propose the new adaptive control algorithm by using S-G algorithm based on the error equations derived by Slotine. We verify the validity of the proposed controller and convergence of three type parameter estimation law based on S-G algorithm from the computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.26-28
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• 1993

DD motor, with large rotor inertia & wide range of torque, is different from other servo motor in control & drive characteristic. In this paper, for the development of flexible DD robot, we introduced the h/w & s/w technics of DSP to construct the velocity, position & torque control strategies and integrated 2 axes special purpose DD servo dirver into one VME bus.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.109.3-109
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• 2002

1. Introduction 2. Vision system 3. Effect of brightness variations 4. Color classifier using multi-layer neural network 5. Experimental result of color classifier 6. Applications for robot soccer system 7. Conclusion

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.36.3-36
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• 2002

$\textbullet$ Motion capture system $\textbullet$ Exoskeleton mechanism $\textbullet$ Kinematics analysis $\textbullet$ Man-machine Interface $\textbullet$ Wireless communication $\textbullet$ Control algorithm

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.36.5-36
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• 2002

$\textbullet$ Introduction $\textbullet$ Localization technique $\textbullet$ Experiments and evolutions $\textbullet$ Conclusions

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.55.5-55
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• 2002