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The document summarizes the main components of a typical robot, including the manipulator, sensors, robot tooling, and robot controller unit. It describes the manipulator as consisting of linkages, joints, and end effectors that are activated by signals from the controller. Sensors provide information to the controller about the status of the manipulator. The robot tooling, or end effectors, can be designed depending on the task. The robot controller unit converts input programs into signals to activate the manipulator. Different types of robot arms are described, including Cartesian, cylinder, polar, and joint arm robots.
This document discusses robot kinematics and position analysis. It covers forward and inverse kinematics, including determining the position of a robot's hand given joint variables or calculating joint variables for a desired hand position. Different coordinate systems for representing robot positions are described, including Cartesian, cylindrical and spherical coordinates. The Denavit-Hartenberg representation for modeling robot kinematics is introduced, allowing the modeling of any robot configuration using transformation matrices.
Dokumen tersebut membahas perkembangan standar akuntansi keuangan di Indonesia, mulai dari PSAK berbasis IFRS, SAK ETAP untuk entitas tanpa akuntabilitas publik, PSAP untuk pemerintahan, hingga pembahasan mengenai IFRS sebagai standar global dan roadmap konvergensi IFRS di Indonesia. Dokumen ini juga membahas beberapa PSAK baru seperti PSAK 69 tentang agrikultur.
The document provides a history of robotics, describing how robots were first depicted in fiction in the 1920s play R.U.R. and Isaac Asimov devised robot laws of behavior in 1950. It discusses the first successful programmable robot developed by George Devol in 1954. The document also summarizes the main types of industrial robots including manipulators, loading devices, and freely programmable robots. It provides examples of early industrial robots like Unimate and describes key components and processes of industrial robot systems.
This document discusses robot work cell design and control. It describes three common robot work cell layouts: robot-centered, in-line, and mobile robot work cells. Robot-centered cells arrange other equipment around a central robot. In-line cells use multiple robots along a conveyor to perform sequential operations on parts. Mobile robot cells use a robotic arm on a movable base to service multiple stations. The document also discusses issues like machine interference when multiple machines share a robot, and modifications needed for part positioning, identification, and interfacing robots with other equipment in the work cell.
The document summarizes the main components of a typical robot, including the manipulator, sensors, robot tooling, and robot controller unit. It describes the manipulator as consisting of linkages, joints, and end effectors that are activated by signals from the controller. Sensors provide information to the controller about the status of the manipulator. The robot tooling, or end effectors, can be designed depending on the task. The robot controller unit converts input programs into signals to activate the manipulator. Different types of robot arms are described, including Cartesian, cylinder, polar, and joint arm robots.
This document discusses robot kinematics and position analysis. It covers forward and inverse kinematics, including determining the position of a robot's hand given joint variables or calculating joint variables for a desired hand position. Different coordinate systems for representing robot positions are described, including Cartesian, cylindrical and spherical coordinates. The Denavit-Hartenberg representation for modeling robot kinematics is introduced, allowing the modeling of any robot configuration using transformation matrices.
Dokumen tersebut membahas perkembangan standar akuntansi keuangan di Indonesia, mulai dari PSAK berbasis IFRS, SAK ETAP untuk entitas tanpa akuntabilitas publik, PSAP untuk pemerintahan, hingga pembahasan mengenai IFRS sebagai standar global dan roadmap konvergensi IFRS di Indonesia. Dokumen ini juga membahas beberapa PSAK baru seperti PSAK 69 tentang agrikultur.
The document provides a history of robotics, describing how robots were first depicted in fiction in the 1920s play R.U.R. and Isaac Asimov devised robot laws of behavior in 1950. It discusses the first successful programmable robot developed by George Devol in 1954. The document also summarizes the main types of industrial robots including manipulators, loading devices, and freely programmable robots. It provides examples of early industrial robots like Unimate and describes key components and processes of industrial robot systems.
This document discusses robot work cell design and control. It describes three common robot work cell layouts: robot-centered, in-line, and mobile robot work cells. Robot-centered cells arrange other equipment around a central robot. In-line cells use multiple robots along a conveyor to perform sequential operations on parts. Mobile robot cells use a robotic arm on a movable base to service multiple stations. The document also discusses issues like machine interference when multiple machines share a robot, and modifications needed for part positioning, identification, and interfacing robots with other equipment in the work cell.
Model Compression (NanheeKim)
@NanheeKim @nh9k
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Custom TTS using multi-speaker-tacotron(nanheekim)Nanhee Kim
@NanheeKim @nh9k
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@Powersupply(YeungnamUniv.) @NanheeKim @nh9k
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Creating touch screen based loop station using rapsberry pi and qt(nanheekim)Nanhee Kim
@NanheeKim @nh9k
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@Powersupply(YeungnamUniv.) @NanheeKim @nh9k
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email: kimnanhee97@gmail.com
@Powersupply(YeungnamUniv.) @NanheeKim @nh9k
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@Powersupply(YeungnamUniv.) @NanheeKim @nh9k
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@NanheeKim @nh9k
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@NanheeKim @nh9k
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Control led using relay module and transistor(nanheekim)Nanhee Kim
@Powersupply(YeungnamUniv.) @NanheeKim @nh9k
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Creating text to talk active image(nanheekim)Nanhee Kim
@NanheeKim @nh9k
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@NanheeKim @nh9k
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Transfer learning of model alexnet for image classification to matlab(nanheekim)Nanhee Kim
@NanheeKim @nh9k
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@Powersupply(YeungnamUniv.) @NanheeKim @nh9k
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@Powersupply(YeungnamUniv.) @NanheeKim @nh9k
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email: kimnanhee97@gmail.com
Model Compression (NanheeKim)
@NanheeKim @nh9k
질문이 있으면 언제든지 연락주세요!
공부한 것을 바탕으로 작성한 ppt입니다.
출처는 슬라이드 마지막에 있습니다!
Please, feel free to contact me, if you have any questions!
github: https://github.com/nh9k
email: kimnanhee97@gmail.com
Custom TTS using multi-speaker-tacotron(nanheekim)Nanhee Kim
@NanheeKim @nh9k
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email: kimnanhee97@gmail.com
@Powersupply(YeungnamUniv.) @NanheeKim @nh9k
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email: kimnanhee97@gmail.com
Creating touch screen based loop station using rapsberry pi and qt(nanheekim)Nanhee Kim
@NanheeKim @nh9k
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@Powersupply(YeungnamUniv.) @NanheeKim @nh9k
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@Powersupply(YeungnamUniv.) @NanheeKim @nh9k
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@Powersupply(YeungnamUniv.) @NanheeKim @nh9k
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@NanheeKim @nh9k
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@NanheeKim @nh9k
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Control led using relay module and transistor(nanheekim)Nanhee Kim
@Powersupply(YeungnamUniv.) @NanheeKim @nh9k
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Creating text to talk active image(nanheekim)Nanhee Kim
@NanheeKim @nh9k
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@NanheeKim @nh9k
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Transfer learning of model alexnet for image classification to matlab(nanheekim)Nanhee Kim
@NanheeKim @nh9k
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@Powersupply(YeungnamUniv.) @NanheeKim @nh9k
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@Powersupply(YeungnamUniv.) @NanheeKim @nh9k
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6. Drone
기울어진 날개 쪽을 알아내어 모터 속도를
좀 더 올리는 방식으로 피드백 하며 제어
SmartPhone
카메라 앱 – 파노라마 사진 촬영
자동차 레이싱 게임 – 돌리는 동작
MotorCycle
바이크의 현재 기울기를 계기판에 표기
기울기 값으로 주행 방향 비추는 코너링 라이트
코너링 ABS, 윌리 컨트롤, 트랙션 컨트롤,
세미 액티브 서스페션 등
바이크의 여러 곳에 활용
비행기,선박,우주선,
위성,유도미사일의
핵심부품
IMUSensor의사용
26. Roll,Pitch,Yaw의계산:AccelerationSensor
Yaw 는?
구할 수 없는 Yaw 값을 자이로 센서로 보충
위치 추정에서 방위각인 Yaw값을 알 수 없으면,
‘위치’가 아닌 ‘이동거리’만을 측정하는 것과 같다.
위치 측정에서는 얼마만큼 이동했느냐도 중요하지만,
어느 방향으로 이동했느냐도 필수적이다.
구할수없다.
중력가속도방향과일치하는Z축회전은감지불가
27. Roll,Pitch,Yaw의계산:GyroSensor
오일러 각
지면에 평행하게 두지 않고
센서의 Roll각을 20도 정도로 하고 90도 회전을 할 경우,
Yaw 회전만 측정해서는 관성 좌표계에 대한
Yaw회전 각을 구할 수 없다.
→ 오일러 각 변환이 필요
센서를지면에평행하게두고
Yaw회적각도만구한다면실제90도각도구할수있다
37. 주의 : 외부의 금속물질이나 자성체가 없는 장소에서 사용
(있을 경우 자기장 성분이 더해지므로 캘리브레이션 과정
이 추가 된다.)
Drone의진행방향=TerrestrialMagnetism+GPS
방향 위치
그래서!
TerrestrialMagnetismSensor
Terrestrial Magnetism Sensor Calibration : 지자기 센서를 회전시켜 주변의 지
구 자력이 아닌 자력을 검출한 후, 그 힘들을 제거하여 지구 자력만 남기는 과정