Hi ngh ton quc ln th 3 v iu khin v T ng ho - VCCA-2015

TM HIU PHNG THC GIAO TIP GIA CNH TAY ROBOT

MITSUBISHI RV-2AJ V MY TNH THNG QUA THIT B HAPTIC
Study on the mode of communication between the robot arm Mitsubishi RV2AJ and computer through the use of a haptic device
V Minh Tr1, L Cng Khanh1, Khu Hu Ngha1, L Hong Sn1
1
Trng i hc Cn Th
e-Mail: vmtri@ctu.edu.vn, lecongkhanh382@gmail.com,
nghia_cantho001@yahoo.com, hoangsonle27@gmail.com
Tm tt
Ngy nay, robot c nhc n nh mt cng c h
tr ht sc c lc cho con ngi trong nhng hot
ng sn xut kinh doanh, y t hay gio dc. Bng
cch tm hiu phng thc giao tip gia cnh tay
robot RV-2AJ v my tnh thng qua vic s dng
mt thit b haptic BambooPad, bi bo ny trnh
bi mt ng dng mi trong vic iu khin robot
v k ha. thc hin c vic lp trnh cho robot
v, cn tri qua bn giai on nh: i) Thc hin m
phng robot RV-2AJ trn phn mm Matlab; ii) Gii
m tn hiu thng tin ca robot RV-2AJ thng qua
vic s dng phn mm Serial Port Minotor thu
thp tp lnh qua cng RS232; iii) Thit k phn mm
iu khin robot thng qua giao tip RS232 v phm
chm BambooPad; iv) Kim chng hot ng ca
robot v phn mm thit k. Kt qu cho thy, robot
c th thc hin vic v k ha trn mt mt phng
bt k trong khng gian hot ng ca robot.
T kha: Cnh tay robot RV-2AJ v k ha, Thit b
haptic, Phn mm Matlab

K hiu
ai

n v
m

di

Dq

e
JT
Mtf
i,j,n
O
pkt

Abstract:
Nowadays, robots are known as a supported tool very
effectively for people in the industrial activities,
business activities, medical or educational fields. By
understanding the mode of communication between
the robot arm RV-2AJ and computers through the use
of a haptic device - BambooPad, this paper presents
a new robot application towards the application of
robot to do the sketches. To implement the mode to
do the sketches, four specific phases were carried out:
i) Simulating robot RV-2AJ on Matlab software; ii)
Decoding information signals of RV-2AJ robot
through the use of Serial Port Monitor software to
collect instructions through RS232 port; iii)
Designing the robots control software by using
RS232 port and BambooPad; iv) Checking the
operation of the robot and designed software. As a
result, the robot can be able to stimulate the sketch on
a certaint plane within its reachable space.
Keywords: Doing the sketch by Robot arm RV-2AJ,
Haptic devices, Matlab software.

K hiu
VCCA-2015

ngha
Tham s ng hc Denavit
Hartenberg
Tham s ng hc Denavit
Hartenberg
Tham s ng hc Denavit
Hartenberg
Tham s ng hc Denavit
Hartenberg
Vector sai s
Vector 5 phn t tng ng
vi 5 khp ca robot
Ma trn jacobian c
chuyn v
Ma trn bin i thun nht
t h ta cng tc v h
ta gc
Vector n v ca trc x,y,z
t trn mt phng cng tc
Vector ta gc O trn mt
phng cng tc
Vector ta ca bt trn
touchpad
Vector trung gian
Vector ta cn t c
trong h ta gc Robot

Ch vit tt
PMAC
FMS

Programmable Multi-Axies Controller

Flexible Manufacturing System

1. Phn m u
Mt cch t nhin, chng ta thng ngh ngay n
mt c my, hnh dng tng t con ngi v c
nhng hot ng tng t con ngi khi c ai
cp n ch robot. Nhng trn thc t, t robot
bao hm rng hn rt nhiu. Robot l tt c nhng
my in hay my c c kh nng thc hin mt
chui hnh ng phc tp mt cch t ng hay bn
t ng (Oxford Dictionaries, 2014).
Thut ng Robot c nhc n ln u tin trong
v kch Rossums Univesal Robot ca Karel Capek
nm 1922[1]. Nm 1961 robot cng nghip u tin
c ng dng trong nh my lp rp t ca
General Motor - USA [1]. T nm 1970 n nay c

Hi ngh ton quc ln th 3 v iu khin v T ng ho - VCCA-2015

hn 20 bo co chnh thc v s mnh chinh phc
khng gian ca cc robot c gi i thm him
H mt tri [2].
Ngy nay cng ngh robot hu nh c p dng ln
mi lnh vc trong x hi. Trong tng lai, robot c
th thay th con ngi thc hin cc cng vic phc
tp nh iu khin t tham gia giao thng[3]. Cc
robot hin i c cu trc c bit c th t tch ra
hoc kt hp li cng phi hp thc hin nhiu
tnh nng khc nhau theo yu cu cng ngh c
th[4].
Cng vi s tin b ca k thut robot trn th gii,
cng ngh robot ti Vit Nam cng c nhng bc i
ng ghi nhn.Tnh t nm 2006, c nhiu bi bo
trong nc v nc ngoi ghi nhn s tin b ca k
thut robot ti Vit Nam vi nhiu i din nh:
Robot chin trng ca Hc vin k thut qun s,
Robot ht bi thng minh, Robot nhy ma TOSY,
Robot nh bng bn TOPIO, i din cho Robocon
Vit Nam t 05 huy chng vng cc gii
Robocon quc t [5]. n nay, nc ta nhp khu
v trin khai nhiu robot phu thut phc v iu tr
cho cc bnh i hi cao v s chnh xc - nh cc ca
phu thut ct sng- ti cc tuyn trung ng [6].
Robot hn, robot lp rp, robot phn loi v nhiu
chng loi robot cng nghip khc cng c u t
nghin cu nghim tc [7].
Cng vi s pht trin ca cng ngh sn xut phn
cng v thut ton iu khin s, robot hin i khng
ch l mt khi thit b cng nhc m cn c trang
b cc cm bin nh l cc gic quan. Haptic
control l thut ng ch mt m hnh iu khin m
trong ngi iu khin v thit b c tng tc trc
tip hoc gin tip vi nhau. M hnh ny ti to li
ton b hay mt phn cm gic ca con ngi khi
tham gia tng tc vi thit b[8]. Gn y, Wacom
cng cho ra i mt thit b haptic thng mi c
th m ha c ta v lc tc ng ca bt v
trn mt mt cm ng BambooPad nh hnh 1.

H. 1

BambooPad ca hng Wacom

Nhm khai thc cc thit b hin c v c gng bt kp

s pht trin ca khoa hc cng ngh th gii, nhm
tc gi xut mt gii php mi iu khin cnh tay
robot RV-2AJ trong dy chuyn sn sut linh hot
FMS ca hng FESTO thng qua vic s dng thit b
Haptics - BambooPad iu khin robot v k
ha. Kt qu cho thy, robot c th v k ha ln mt
mt phng bt k t trong khng gian lm vic ca
robot.

2. Ni dung chnh
2.1 S lc v robot RV-2AJ
VCCA-2015

Robot RV-2AJ l cnh tay robot 5 bc t do ca hng

Mitsubishi Nht Bn. Cc thnh phn chnh bao
gm:
Mt cnh tay my 5 bc t do Main Body.
B iu khin CR1-571.
B iu khin v lp trnh v tr bng tay Teaching box R28TB.
Tng quan robot c m t trong hnh 2.

H. 2

Cnh tay robot Mitsubishi RV-2AJ

Cc thng s c bn ca Robot RV-2AJ:

S bc t do:
5 bc.
Kiu cu trc:
ng, ton khp quay.
ng c dn ng: AC servo.
chnh xc:
0.02mm.
Kh nng mang ti: Tnh 2kg, ng 1,5kg.
S ng In/Out s: 16 In/ 16 Out.
Cng giao tip:
RS232/RS422.
in p s dng: 220VAC.
Ngn ng lp trnh: MELFA-BASIC IV hoc
MOVEMASTER COMMANDS.
2.1.1 B iu khin (Controller)
L thnh phn quan trng quyt nh kh nng linh
hot v chnh xc ca Robot. B iu khin ca
robot MJ-2AV c trang b CPU kin trc
RISC/DSP 64bit[9] cng cc ng In/Out s c th lp
trnh c. Cng truyn thng c bn RS232/RS422.
B iu khin c th nng cp Card truyn thng qua
mng LAN.
2.1.2 Ngn ng lp trnh
Ngn ng lp trnh cho robot l MELFA-BASIC IV
hoc MOVEMASTER COMMANDS[10]. Phn mm
giao din i km l COSIROP dng giao tip gia
robot vi my tnh v lp trnh iu khin.
Trn dy chuyn FMS, Cc ta v tr v chuyn
ng ca robot RV-2AJ c lp trnh trc bng
phn mm COSIROP v np vo b iu khin.
m rng phng thc iu khin, nhm tc gi
xut mt m hnh mi l iu khin robot trc tip t
thit b haptic thng qua chng trnh iu khin linh
hot trn nn ngn ng MATLAB.
2.2 B tr th nghim
Nh gii thiu, nhm tc gi s dng phn mm
MATLAB lp trnh giao din s kin, c d liu t
thit b haptic, phn tch, tnh ton d liu v xut d
liu iu khin thng qua cng truyn thng RS232

Hi ngh ton quc ln th 3 v iu khin v T ng ho - VCCA-2015

ca b iu khin. S b tr th nghim c m t

H. 3

S khi b tr cc th nghim

2.2.1 M phng robot RV-2AJ trn Matlab

hiu r hn chuyn ng ca robot, trc
tin cn m phng chuyn ng ca robot trn

H. 4

trong hnh 3.

MATLAB-Simulink. Hnh 4 trnh by chng

trnh m phng robot trn MATLAB-Simulink.

Chng trnh Matlab-Simulink trong m hnh ha Robot RV-2AJ

Sau khi m hnh ha robot dng cng c MATLABSimulink, kt qu c m phng c trnh by

trong hnh 5.

H. 5

VCCA-2015

Robot RV-2AJ c m phng trn Matlab

Hi ngh ton quc ln th 3 v iu khin v T ng ho - VCCA-2015

Sau khi m phng thnh cng robot trn Matlab, mt
trong nhng th nghim quan trng v cng l mu
cht nghin cu ny l c v gii m tn hiu iu
khin ca robot RV-2AJ c th iu khin robot
thc hin nhng yu cu cng vic t ra.
2.2.2 Gii m tn hiu ca Robot iu khin
a s robot ch to sn trong thi im hin ti u
c ng gi cng vi phn mm bin dch v b
iu khin. iu khin robot t mt phn mm ng
dng khc, cn c c thng tin m phn mm giao
tip truyn qua cng giao tip. iu ny c thc
hin bi nhiu n v nh cng ty Nation
Instruments[11], cc nghin cu sinh i hc
Quindio Amenia Colombia[12], v mt s n v
khc. Nhng iu ng lu tm l tin mua bn quyn
s hu tr tu c th ln n 1200$[11], khon tin

H. 6

Giao din iu khin ca phn mm Serial Port Monitor

Thng tin thu thp c tng t nh hp ng, mt

ngn ng lp trnh cp thp, gm c s Hex, ch ci

H. 7

vit tt, du cu v nhiu phn t khc. Mt on

chng trnh thu c c dng nh hnh 7.

Mt on chng trnh iu khin robot RV-2AJ c thu thp

Chng ta bit rng thng tin ny c mt quy lut nht

nh. Tuy nhin hiu c thng tin ny, nhm tc
gi phi thit lp rt nhiu th nghim lin quan.
Mi th nghim phi tp trung vo mt chi tit nht
VCCA-2015

ny vt xa kinh ph nghin cu khoa hc m n v

c th cung cp. V th chng ti tm n nhng
gii php t tn km hn nhm mc ch lc ly
thng tin hai chiu gia my tnh v robot.
Sau khi tm hiu nhiu phn mm lc tn hiu. Nhm
tc gi quyt nh chn chng trnh Serial Port
Monitor ca Eltima v tnh n nh, nhiu chc nng
hu ch nh lu thng tin di dng txt, lc s kin,
hin th cc ngt thi gian, ngt s kin.
Nh vy c th ni, th nghim gii m tn hiu robot
y chnh l vic thu thp tp lnh truyn nhn gia
robot v phn mm COSIROP qua cng giao tip
RS232 thng qua vic s dng phn mm Serial Port
Monitor. Giao din phn mm Serial Port Monitor
c
m
t
trong
hnh
6.

nh, thay i cc thng s nht nh nhn ra s

khc bit. Tng thng s thit lp c th nhn thy,
di chng trnh, thay i cu lnh cng nh th t
ca cc cu lnh, ta cng nh thay i cc thut

Hi ngh ton quc ln th 3 v iu khin v T ng ho - VCCA-2015

ton c h tr. Sau khi xc nh c quy lut ca
cc cu lnh v kt hp vi ngn ng lp trnh
MELFA-BASIC IV nhm tc gi gii m c tp
lnh ca phn mm COSIROP iu khin robot v
chuyn sang giai on thit k chng trnh iu
khin.
2.2.3 Thit k chng trnh iu khin robot
Yu cu hin ti ca phn mm iu khin gm c:
Kt ni, ngt kt ni.
Dng robot.
Reset li.
Khi ng robot.
ng/m tay gp.
c v tr, gc quay.
Tr robot v v tr home.
Tng/gim v tr tay gp, di chuyn robot.
Tng/gim gc quay cc khp, di chuyn robot.
M phng trong khng gian o ba chiu.

H. 8

c thng s cc khp.
Theo yu cu ra, v vi s h tr ca Matlabguide, mi n v nt bm trn giao din hnh 8 s
thc hin mt chc nng chnh v kt hp mi mt s
chc nng khc:
Chc nng reset li s thc thi sau chc nng
dng robot.
Chc nng tr v v tr home s thc thi sau khi
khi ng robot.
Chc nng tng/gim v tr s i km vi vng
lp cp phn ng hc ngc tin
hnh m phng robot.
Chc nng c thng s khp thc thi trc khi
lnh di chuyn robot c gi i m bo ta
tip theo vn nm trong khng gian lm vic
ca robot.
Hnh 8 trnh by giao din iu khin robot o:

Giao din iu khin robot o trn Matlab Guide

Giao din trnh by trong hnh 8 cho php to chuyn

ng cho robot t v tr hin ti n v tr mi bng
cch thay i gc quay ca cc khp hay thay i v
tr khu tc ng cui.
Khi chuyn sang ch kt ni vi robot, lnh t giao
din iu khin s truyn n cnh tay robot thng
qua cng RS232
a) Giao tip qua RS232
thc hin giao tip vi RS232, nhm tc gi to
ra mt hm iu khin v tr trn Matlab c dng nh
sau:
function[output_args]=Robot_Mitsubishi
( s,xx,yy,zz,rol,pitch,yar )

Hm ny c to ra vi 5 mc ch chnh:
Kt ni MATLAB vi cng truyn thng RS232.
iu khin khp c tay ca robot n v tr xc
nh trong khng gian.
ng kt ni vi cng RS232.

Kt hp vi cc vng lp to thnh chu trnh iu

khin.
Th tc truyn thng vi robot.
Chng ta c th can thip vo hm ny khi cn thay
i tc truyn thng bng cch thm cc Initcommands cn thit cho Robot.
b) Giao tip vi Graphic Tablet s dng
Psychtoolbox:
Psychtoolbox l mt hp cng c c to ra cho
Matlab gip cho vic trnh by cc kch thch v thu
thp phn ng hnh vi tr nn d dng hn. Trong
nghin cu ny, nhm tc gi s dng Psychtoolbox
ghi nhn chuyn ng ca bt v p lc ca u
bt trn BambooPad.
Di y l on chng trnh c to ra trn
MATLAB:

PressureTest_GraphicTablet.m
wPtr = Screen('OpenWindow', 0, 0, [0 0 30 30]); %To ra mt ca s kch thc 30x30 phc v
thu thp d liu
WinTabMex(0, wPtr); %Kch hot driver, kt ni vo ca s wPtr.
WinTabMex(2);
% Bt u ghi nhn v x l s liu.
pkt=WinTabMex(5); %Truy sut d liu theo phng thc FIFO
Return_Value=pkt; %Ghi d liu thu thp c vo bin tr v
while(~isempty(pkt)) %Vng lp loi b cc im tha ghi nhn c t tablet
pkt = WinTabMex(5);
if(~isempty(pkt))

VCCA-2015

Hi ngh ton quc ln th 3 v iu khin v T ng ho - VCCA-2015

Return_Value=pkt;
end
end
if(~isempty(Return_Value)) %Tr v v tr mi nht ngi dng tc ng ln Tablet
output_args=[Return_Value([1 2],1);Return_Value(9,1)];
%disp(Return_Value([1 2],1))
end
WinTabMex(3);
% Stop/Pause ghi nhn v x l s liu.
WinTabMex(1);
% Shutdown driver.
Screen('CloseAll');

2.2.4 Kim tra hot ng ca m phng v thc t

a) Kim tra khng c kt ni
u tin, m phn mm ng dng v rt cp kt ni,
kt qu c m t nh hnh 9.

(a)

(c)

(e)
H. 9

Sau khi tin hnh kim tra, nhm tc gi nhn thy

rng ng dng m phng robot hot ng ng vi d
kin.
b) Kim tra c kt ni
Khi tin hnh kim tra c kt ni, nhm b tr t
nht hai ngi va gim st phn mm va gim
st phn cng, dng khn cp robot khi c du hiu
bt thng. Trong ch kt ni, ta ca robot
c cp nht ln giao din theo thi gian nh trc.
Kt qu c trnh by trong hnh 10.

(b)

(a)

(b)

(c)

(d)

(d)

(f)

Quan st cc chuyn ng ca robot trn phn mm

m phng

(a) - Robot ti v tr home; (b) - Gii hn mt bn ca

khp 1; (c) - Gii hn trn ca khp th 2; (d) - Gii
hn trn ca khp th 3; (e) - Gii hn trn ca khp
th 4; (f) - Gii hn di ca khp th 4
(e)
H. 10

VCCA-2015

(f)

Quan st cc chuyn ng ngoi thc t ca robot

Hi ngh ton quc ln th 3 v iu khin v T ng ho - VCCA-2015

(a) - Robot ti v tr home; (b) - Gii hn mt bn ca
khp 1; (c) - Gii hn trn ca khp th 2; (d) - Gii
hn trn ca khp th 3; (e) - Gii hn trn ca khp
th 4; (f) - Gii hn di ca khp th 4
Sau khi tin hnh kim tra c kt ni, nhn thy robot
hot ng ng nh khi gi lp.
2.3 ng dng robot RV-2AJ v k ha
Robot RV-2AJ c bit n rng ri l mt Robot
cng nghip. Phng thc iu khin thng thng l
lp trnh cho robot mt chui cc thao tc ti cc ta
c nh bit trc. Trong nghin cu ny, Nhm
tc gi mun m rng ng dng ca robot ny trong
iu kin thc t. V nh nu, nhm nghin cu
su hn phng php iu khin robot nhm phc v
cng tc o to, thc y tinh thn hc tp nghin
cu ca sinh vin ti trng. Nghin cu ny s lm
tin cho cc ng dng tip theo phc v nhiu mc
tiu nghin cu trong tng lai.
ng dng m hnh Haptic control vo thc t iu
khin robot s m ra mt hng ng dng mi theo
xu th ca thi i. ng dng robot v k ha ch l
bc u trong chui cc ng dng tip theo nh iu
khin lc, iu khin tng tr, iu khin mm do.
Kt qu ca nghin cu s c ng dng vo vic
thit lp mt phng thc mi trong vic iu khin
robot lin tc t thit b thu nhn d liu.
Bng 1: Cc thng s Denavit-Hartenbergs
o
STT khp
ai[m]
i[ ]
1
0
-90
2
0.25
0
3
0.16
0
4
0
-90
5
0
0
Phn bit loi bi ton ng hc:
Bi ton ng hc thun: T thng s ca cc
khp (gc/ di) tm ra c v tr v hng ca
tay robot (end-effector)[13].
Bi ton ng hc ngc: Bit ta v hng
cn t c ca tay robot, xc nh thng s cn
thit ca cc khp[13].
D dng thy rng thc hin thao tc v k ha ln
thit b haptic v sau robot s thc hin theo chnh
l mt bi ton ng hc ngc.
C nhiu phng php c th s dng gii bi ton
ny, tuy nhin thun tin cho vic lp trnh v m
phng trn my tnh th phng php tnh ng hc
ngc s dng ma trn chuyn i Jacobian l mt
la chn tt. S dng phng php ny, gc quay ca
robot s cp nht trong vng lp n khi sai s gia
gc mong mun v gc hin ti l chp nhn c.
Nu t vector ct cc gc quay ca khp th k l
th lng thay i:
r

Dq = a JT e
(1)
Trong e l vector 5 phn t tng ng vi 5 khp
ca robot, Dq biu hin cho sai s gia v tr hin ti
v v tr mong mun robot t c, c chn rt
gn cc tiu ca e v JT l ma trn jacobian c
chuyn v [14].
VCCA-2015

2.3.1 Xc nh v thit lp bi ton ng hc ph

hp
tnh ton cc bi ton ng hc, cn phi t vo
cc khp robot mt h ta mi theo quy tc
Denavit-Hartenberg[13] nh trnh by trong hnh 11.

H. 11

H ta t cho cc khp

di[m]
0.3
0
0
0
0

i[

]
0
-90
90
-90
0
2.3.2 Tnh ton ta tuyt i ca im v trn
h ta robot
Thut ton tnh ton ta cn di chuyn ca bt v
c m t trong lu hnh 12.
Start

Read Pen Position (pkt)

Px=pkt(1)
Py=pkt(2)
Pz=pkt(3)
=Mtf x P

End
H. 12

Lu thut ton tnh ton ta bt v trong h

ta ca Robot

Mtf L ma trn bin i thun nht t h ta ca

mt phng bng v v h ta gc ca robot[13].

Hi ngh ton quc ln th 3 v iu khin v T ng ho - VCCA-2015

ix
i
M tf y
iz

jx
jy

nx
ny

jz
0

nz
0

Ox
Oy
Oz

i,j,n ln lt l vector n v trc x,y,z v O l vector

ta gc O trn bng v.
Kt thc lu , chng trnh s thu c ta cc
im m bt v cn di chuyn n trong khng gian
cng tc ca Robot. Kt qu ny s c xut sang b
iu khin iu khin robot thng qua cng
RS232[9]. Kt qu thu c trnh by trn hnh 13.

[3]
[4]

[5]

[6]

[7]

[8]

[9]

[10]

H. 13

Robot RV-2AJ thc hin thao tc k tn

[11]

3. Kt lun
T kt qu nghin cu phng thc giao tip gia
robot v my tnh thng qua vic s dng thit b
haptic BambooPad, nhm thit lp mt ng
dng iu khin robot mi theo hng nghin cu,
pht trin phc v cng tc o to v thc hnh, c
bit l vic ng dng robot v k ha. Kt qu ny
ch l mt bc khim tn trong cng cuc a thit
b k thut hin i vo thc t, nhng nhm tc gi
tin tng ti ny sn sng cng b th thu
hp khong cch ng dng tin b khoa hc vo thc
tin. t nn mng cho tinh thn nghin cu hc hi
v m rng ng dng cc thit b sn c trong mi
sinh vin Vit Nam. Kt qu nghin cu c th tip
tc k tha pht trin cc ng dng khc quan
trng hn, hiu qu hn, c li ch to ln hn nhm
phc v cho cng ng.

Ti liu tham kho

[1]

[2]

Thin Phc N. Robot Cng Nghip GS.

TSKH, Nh xut bn Khoa Hc K Thut, H
Ni, 2006.
Aravind and Schafer, 2010. Robot mobility
systems for planetary surface exploration state-

VCCA-2015

[12]

[13]

[14]

of-the-art and future outlook: a literature

survey. Intech Publ. Germany. 30pp.
Tom Vanderbilt, 2012. Let the Robot Drive: The
Autonomous Car of the future is Here.
Mark Yim, Wei-Min Shen, Behnam Salemi,
Daniela Rus. Modular Self-Reconfigurable
Robot Systems. Corel Corp. 10pp.
Tui tr online, 2015. Nhp sng tr.
http://tuoitre.vn/tin/nhip-songtre/20150823/viet-nam-lai-dang-quang-roboconchau-a-thai-binh-duong/957171.html Truy cp
ngy 24/8/2015
TTXVN, 2014. ng dng Robot nh v chnh
xc
trong
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Hi ngh ton quc ln th 3 v iu khin v T ng ho - VCCA-2015

V Minh Tr nhn bng K
s C kh nng nghip ti
Trng i Hc Cn Th
nm 1993, bng Thc s C
kh nng nghip ti Trng
i Hc i Hc Quc Gia
Tp. H Ch Minh nm 1998,
v nhn bng Tin s C
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Hon thnh chng trnh hc
bng ca tp on Yanmar Nht
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thng 8 nm 2015. Tham gia
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Khu Hu Ngha sinh nm
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bin p truyn ti in p n 500KV. Lnh vc quan
tm: Relay bo v h thng in, Robot, T ng ha
sn xut, SCADA, CNC.

VCCA-2015