公开(公告)号：US20120068486A1

公开(公告)日：2012-03-22

申请号：US13229841

申请日：2011-09-12

申请人： Yong Jae KIM ,  Duke Kimm ,  Sang Il Hong

发明人： Yong Jae KIM ,  Duke Kimm ,  Sang Il Hong

IPC分类号： B25J15/08

CPC分类号： B25J15/0009 ,  B25J15/086 ,  B25J15/10 ,  Y10S901/38 ,  Y10S901/39

摘要： A robot hand, which has an arbitrary object grasping function in the same manner as a human hand and a high precision and stable grasping function in the same manner as an industrial gripper and performs a pose similar to a human hand while having complete opposability without any increase in complexity or degree of freedom. The robot hand includes a base part, and a plurality of finger connection parts, and a plurality of finger modules connected to the plurality of finger connection parts. The finger connection parts connected to the base part are connected to adjacent finger connection parts by roll joints such that each pair the finger connection parts connected by the roll joints is driven together, and the finger connection parts adjacent to the finger connection parts connected to the base part are driven separately from the finger connection parts connected to the base part.

摘要翻译： 机器人手以与人手相同的方式具有任意的对象抓握功能，并且以与工业夹持器相同的方式具有高精度和稳定的抓握功能，并且在具有完全可反对性的情况下执行与人手类似的姿势，而没有任何 增加复杂性或自由度。 机器人手包括基部和多个手指连接部以及连接到多个手指连接部的多个手指模块。 连接到基部的手指连接部分通过辊接头连接到相邻的手指连接部分，使得由辊接头连接的每对手指连接部分被一起驱动，并且与手指连接部分相邻的手指连接部分连接到 基部与与基部连接的手指连接部分别驱动。

公开(公告)号：US08814241B2

公开(公告)日：2014-08-26

申请号：US13229841

申请日：2011-09-12

申请人： Yong Jae Kim ,  Duke Kimm ,  Sang Il Hong

发明人： Yong Jae Kim ,  Duke Kimm ,  Sang Il Hong

IPC分类号： B25J15/10 ,  B25J15/00 ,  B25J15/08

CPC分类号： B25J15/0009 ,  B25J15/086 ,  B25J15/10 ,  Y10S901/38 ,  Y10S901/39

摘要： A robot hand, which has an arbitrary object grasping function in the same manner as a human hand and a high precision and stable grasping function in the same manner as an industrial gripper and performs a pose similar to a human hand while having complete opposability without any increase in complexity or degree of freedom. The robot hand includes a base part, and a plurality of finger connection parts, and a plurality of finger modules connected to the plurality of finger connection parts. The finger connection parts connected to the base part are connected to adjacent finger connection parts by roll joints such that each pair the finger connection parts connected by the roll joints is driven together, and the finger connection parts adjacent to the finger connection parts connected to the base part are driven separately from the finger connection parts connected to the base part.

摘要翻译： 机器人手以与人手相同的方式具有任意的对象抓握功能，并且以与工业夹持器相同的方式具有高精度和稳定的抓握功能，并且在具有完全可反对性的情况下执行与人手类似的姿势，而没有任何 增加复杂性或自由度。 机器人手包括基部和多个手指连接部以及连接到多个手指连接部的多个手指模块。 连接到基部的手指连接部分通过辊接头连接到相邻的手指连接部分，使得由辊接头连接的每对手指连接部分被一起驱动，并且与手指连接部分相邻的手指连接部分连接到 基部与与基部连接的手指连接部分别驱动。

公开(公告)号：US20100110214A1

公开(公告)日：2010-05-06

申请号：US12588829

申请日：2009-10-29

申请人： Ho Seok Choi ,  Sang Don Jang ,  Dong Seok Baek ,  Sang Geun Park ,  Myung Ho Kim ,  Duke Kimm ,  Jung Hyeon Kim ,  Sang-il Hong

发明人： Ho Seok Choi ,  Sang Don Jang ,  Dong Seok Baek ,  Sang Geun Park ,  Myung Ho Kim ,  Duke Kimm ,  Jung Hyeon Kim ,  Sang-il Hong

IPC分类号： H04N5/228

CPC分类号： G03F7/70291 ,  G03F7/70508

摘要： A method to compress exposure data may include converting image data into a plurality of exposure data, generating new exposure data by combining part of the plurality of exposure data or by excluding part of the plurality of exposure data, and compressing the new exposure data. An exposure apparatus may include a conversion unit that converts image data into a plurality of exposure data, a control unit that generates new exposure data by combining part of the plurality of exposure data or by excluding part of the plurality of exposure data, and a compression unit that compresses the new exposure data.

摘要翻译： 压缩曝光数据的方法可以包括将图像数据转换为多个曝光数据，通过组合多个曝光数据中的一部分或通过排除多个曝光数据的一部分并压缩新的曝光数据来产生新的曝光数据。 曝光装置可以包括将图像数据转换为多个曝光数据的转换单元，通过组合多个曝光数据的一部分或通过排除多个曝光数据的一部分来产生新曝光数据的控制单元和压缩 压缩新的曝光数据的单位。

公开(公告)号：US08427712B2

公开(公告)日：2013-04-23

申请号：US12588829

申请日：2009-10-29

申请人： Ho Seok Choi ,  Sang Don Jang ,  Dong Seok Baek ,  Sang Geun Park ,  Myung Ho Kim ,  Duke Kimm ,  Jung Hyeon Kim ,  Sang-il Hong

发明人： Ho Seok Choi ,  Sang Don Jang ,  Dong Seok Baek ,  Sang Geun Park ,  Myung Ho Kim ,  Duke Kimm ,  Jung Hyeon Kim ,  Sang-il Hong

IPC分类号： H04N1/00

CPC分类号： G03F7/70291 ,  G03F7/70508

摘要： A method to compress exposure data may include converting image data into a plurality of exposure data, generating new exposure data by combining part of the plurality of exposure data or by excluding part of the plurality of exposure data, and compressing the new exposure data. An exposure apparatus may include a conversion unit that converts image data into a plurality of exposure data, a control unit that generates new exposure data by combining part of the plurality of exposure data or by excluding part of the plurality of exposure data, and a compression unit that compresses the new exposure data.

摘要翻译： 压缩曝光数据的方法可以包括将图像数据转换为多个曝光数据，通过组合多个曝光数据中的一部分或通过排除多个曝光数据的一部分并压缩新的曝光数据来产生新的曝光数据。 曝光装置可以包括将图像数据转换为多个曝光数据的转换单元，通过组合多个曝光数据的一部分或通过排除多个曝光数据的一部分来产生新曝光数据的控制单元和压缩 压缩新的曝光数据的单位。

公开(公告)号：US08886360B2

公开(公告)日：2014-11-11

申请号：US13200712

申请日：2011-09-29

申请人： Ki Moon Lee ,  Chi Gun An ,  Duke Kimm

发明人： Ki Moon Lee ,  Chi Gun An ,  Duke Kimm

IPC分类号： G06F19/00 ,  G05B19/416

CPC分类号： G05B19/416 ,  G05B2219/43018 ,  Y10S901/02 ,  Y10S901/20

摘要： A motor velocity control apparatus and method in which the velocity of a motor to drive a joint of a robot is controlled. The method includes generating a velocity profile of the motor based on velocity profile generation data received from a user; judging whether one velocity section selected from velocity sections divided from the generated velocity profile corresponds to a high velocity region, where the high velocity region corresponds to an acceleration compensation section in which an acceleration section transitions to a constant velocity section; estimating an acceleration corresponding to the current velocity of the motor, upon judging that the velocity section corresponds to the high velocity region, the acceleration corresponding to the current velocity is estimated using an acceleration-velocity graph in the acceleration compensation section or a deceleration compensation section; compensating for the velocity profile using the estimated acceleration; and driving the motor using the compensated velocity profile.

摘要翻译： 一种马达速度控制装置和方法，其中控制用于驱动机器人的关节的马达的速度。 该方法包括基于从用户接收的速度分布生成数据生成马达的速度分布; 判断从所生成的速度分布中分离的速度部分中选择的一个速度部分是否对应于高速区域，其中高速区域对应于加速度部分转变到等速段的加速度补偿部分; 估计与电动机的当前速度相对应的加速度，在判定速度部分对应于高速区域时，使用加速度补偿部分中的加速度 - 速度曲线或减速补偿部分来估计对应于当前速度的加速度 ; 使用估计的加速度补偿速度分布; 并使用补偿的速度曲线驱动电机。

公开(公告)号：US20120153796A1

公开(公告)日：2012-06-21

申请号：US13324492

申请日：2011-12-13

申请人： Jeong Su HAN ,  In Sang Jeon ,  Duke Kimm ,  Kwang Hoon Lee ,  Sung Soo Lee ,  Jung Bae Kim ,  Hyung Jin Seo ,  Song Kyoo Kim ,  Jin Ha Jeong

发明人： Jeong Su HAN ,  In Sang Jeon ,  Duke Kimm ,  Kwang Hoon Lee ,  Sung Soo Lee ,  Jung Bae Kim ,  Hyung Jin Seo ,  Song Kyoo Kim ,  Jin Ha Jeong

IPC分类号： F25D23/06 ,  B65D81/38

CPC分类号： F25D25/005 ,  F25D2323/021

摘要： A refrigerator includes a main body, a storage compartment provided in the main body and including a storage space, a partition plate to divide the storage space, and a storage container supported by the partition plate. The storage container includes a container body defining the external appearance of the storage container and having a top opening, a thickness reinforced portion formed at the lower part of the container body to prevent temperature of the lower part of the container body from rapidly changing by cold air of the storage compartment, and a thermal insulating member provided in a space between the thickness reinforced portion and the container body.

摘要翻译： 冰箱包括主体，设置在主体中的储藏室，并且包括存储空间，分隔存储空间的分隔板和由分隔板支撑的存储容器。 储存容器包括限定存储容器的外观并具有顶部开口的容器主体，形成在容器主体的下部的厚度增强部分，以防止容器主体的下部的温度由于冷而快速变化 储存室的空气和设置在厚度增强部分和容器主体之间的空间中的绝热构件。

公开(公告)号：US20120109374A1

公开(公告)日：2012-05-03

申请号：US13200712

申请日：2011-09-29

申请人： Ki Moon Lee ,  Chi Gun An ,  Duke Kimm

发明人： Ki Moon Lee ,  Chi Gun An ,  Duke Kimm

IPC分类号： G06F19/00

CPC分类号： G05B19/416 ,  G05B2219/43018 ,  Y10S901/02 ,  Y10S901/20

摘要： A motor velocity control apparatus and method in which the velocity of a motor to drive a joint of a robot is controlled. The motor velocity control apparatus and method compensates for a velocity profile used to drive a motor in real time using acceleration, thus increasing a driving velocity of the motor to the maximum velocity while stably maintaining performance of the motor. Thereby, efficiency of the motor is increased, the velocity of the motor is based on the acceleration made by data obtained through experimentation and is thus more precisely and simply calculated than the conventional compensation algorithm using dynamics, and reliability in driving of the motor is assured.

摘要翻译： 一种马达速度控制装置和方法，其中控制用于驱动机器人的关节的马达的速度。 电动机速度控制装置和方法补偿用于使用加速度实时驱动电动机的速度分布，从而将电动机的驱动速度提高到最大速度，同时稳定地保持电动机的性能。 因此，马达的效率提高，马达的速度基于通过实验获得的数据所产生的加速度，因此比使用动力学的常规补偿算法更精确和简单地计算，并且确保马达驱动的可靠性 。