한국지능시스템학회논문지 (Journal of the Korean Institute of Intelligent Systems)

  • 제25권2호
  • /
  • Pages.97-104
  • /
  • 2015
  • /
  • 1976-9172(pISSN)
  • /
  • 2288-2324(eISSN)
한국지능시스템학회 (Korean Institute of Intelligent Systems)
권호 표지
DOI QR코드

DOI QR Code

2차원 와이어 구동식 중량물 권양 시스템을 위한 퍼지제어기 설계

Design of Fuzzy Controller for a 2-Dimensional Wire-Driven Heavy Material Lifting System

  • 이용찬 (경북대학교 IT대학 전자공학부) ;
  • 이형준 (경북대학교 IT대학 전자공학부) ;
  • 이연정 (경북대학교 IT대학 전자공학부)
  • Lee, Yong-Chan (School of Electronics Engineering, College of IT Engineering, Kyungpook National University) ;
  • Lee, Hyeng-Jun (School of Electronics Engineering, College of IT Engineering, Kyungpook National University) ;
  • Lee, Yun-Jung (School of Electronics Engineering, College of IT Engineering, Kyungpook National University)
  • 투고 : 2015.03.17
  • 심사 : 2015.04.10
  • 발행 : 2015.04.25
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

본 논문에서는 중량물을 들어 올리는 작업자를 돕기 위한 2차원 와이어 구동식 중량물 권양 시스템과 퍼지제어기를 제안한다. 2차원 와이어 구동식 중량물 권양 시스템은 사람이 전체 제어루프에 포함된 인간지원시스템의 일종이다. 기존 인간지원시스템 대부분의 제어 방식이 사용자의 특성을 고려하지 못하는 단점을 해결하기 위하여 물건을 들어 올리는 작업자의 힘을 덜어주어야 하는 요구조건과 사람의 작업 모션을 고려한 퍼지제어기 설계 방식을 제안한다. 실험을 통해 제안된 시스템의 2차원 작업 모션의 성능을 검증한다.

A fuzzy controller and a 2-dimensional wire-driven heavy material lifting system helping human operator are proposed in this paper. The 2-dimensional wire-driven heavy material lifting system is a kind of human-assistive systems in which a human is involved in the control loop. Most of the existing human-assistive control systems cannot consider human operator's characteristic. To consider human operator's characteristic, human's operating motion and requirement of reducing operator's force to lift a heavy material are considered in the design process of the proposed fuzzy controller. The performance of the proposed system is verified by experiments.

키워드

참고문헌

  1. S. Woo, K. Jung, J. Kim, J. Park, and S. Kim, "Velocity Control Method of AGV for Heavy Material Transport," Journal of Korean Institute of Intelligent Systems, vol. 20, no. 3, pp. 394-399, 2010. https://doi.org/10.5391/JKIIS.2010.20.3.394
  2. D. Jeong, J. Park, and Y. Kim, "Study on Design of Mobile Robot for Autonomous Freight Transportation," Journal of Korean Institute of Intelligent Systems, vol. 23, no. 3, pp. 202-207, 2013. https://doi.org/10.5391/JKIIS.2013.23.3.202
  3. S. Garrido, M. Abderrahim, A. Giménez, R. Diez, and C. Balaguer, "Anti-Swinging Input Shaping Control of an Automatic Construction Crane," IEEE Transactions Automatation Science and Engineering, vol. 5, no. 3, pp. 549-557, 2008. https://doi.org/10.1109/TASE.2007.909631
  4. H. D. Lee, S. N. Yu, S. H. Lee, J. S. Han, and C. S. Han, "Development of Human-Robot Interfacing Method for Assistive Wearable Robot of the Human Upper Extremities," Proceedings of SICE Annual Conference, pp. 1755-1760, 2008.
  5. C. A. Lotz, M. J. Agnew, A. A. Godwin, and J. M. Stevenson, "The Effect of an On-Body Personal Lift Assist Device (PLAD) on Fatigue During a Repetitive Lifting Task," Journal of Electromyography and Kinesiology, vol. 19, pp. 331-340, 2009. https://doi.org/10.1016/j.jelekin.2007.08.006
  6. J. E. Colgate, M. A. Peshkin, and S. H. Klostermeyer, "Intelligent Assist Devices in Industrial Applications: a review," Proceedings of the IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Las Vegas, Nevada, 2003.
  7. D. Surdilovic, R. Bernhardt, and L. Zhang, "New intelligent power-assist systems based on differential transmission," Robotica, vol. 21, pp. 295-302, 2003. https://doi.org/10.1017/S0263574702004800
  8. H. Kazerooni, D. Fairbanks, A. Chen, G. Shin. "The Magic Glove", in IEEE International Conference on Robotics and Automation, pp. 757-763, 2004.
  9. B. W. Song, H. D. Seo, and Y. J. Lee, "Operator Modeling and Design of Fuzzy Controller for a Wire-Driven Heavy Material Lifting System," Journal of Korean Institute of Intelligent System, vol. 23, no. 5, pp. 436-443, 2013. https://doi.org/10.5391/JKIIS.2013.23.5.436
  10. C. Gosselin, P. Ren, and S. Foucault, "Dynamic Trajectory Planning of a Two-DOF Cable-Suspended Parallel Robot," Proceedings of Robotics and Automation Conference, Minnesota, USA, 2012.