• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.571-576
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• 2015

This paper proposes an auto-parking controller for omnidirectional mobile robots. The controller uses the multi-sensor system including ultrasonic sensor and camera. The several ultrasonic sensors of robot detect the distance between robot and each wall of the parking lot. The camera detects the global position of robot by capturing the image of artificial landmarks. To improve the accuracy of position estimation, we applied the extended Kalman filter with adaptive fuzzy controller. Also we developed the fuzzy control system to reduce the settling time of parking. The experimental results are presented to verify the usefulness of the proposed controller.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.4
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• pp.315-321
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• 2013

This paper presents the position-based force control application of a mobile manipulator. The mobile manipulator consists of two six DOF manipulators and a mobile robot. Kinematics of the robot is analyzed and simulated to validate the analysis. A position-based force control technique is applied to the robot by adding an outer loop to interact with the environment. Experimental studies of force control applications of robot arm and interaction with a human operator are conducted. Experimental results show that the robot arm is well regulated to follow the desired force.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.1
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• pp.100-104
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• 1998

A hybrid control method based on the relative motion between a manipulator and a workpiece is described for a two-dimensional manipulator, in which it is assumed that there are no collisions between the robot manipulator and the workpiece, and that we use a computed force law which is similar to the computed torque law in the trajectory tracking problem of a robot manipulator. The effectiveness of the proposed hybrid control method is illustrated through several simulations.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.7
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• pp.515-526
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• 2003

Tutorial contents of kinematics and dynamics of a wheeled drive mobile robot are presented. Based on the dynamic model, simulation studies of position tracking of a mobile robot are performed. The control structure of several position control algorithms using visual feedback are proposed and their performances are compared. In order to compensate for uncertainties from unknown dynamics and ignored dynamic effects such as slip conditions, neural network based position control schemes are proposed. Experiments are conducted and the results show the performance of the vision based neural network control scheme fumed out to be the best among several proposed schemes.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.3
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• pp.252-258
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• 1997

This paper presents neural networks for hybrid position/force control which is a type of position and force control for robot manipulators. The performance of conventional hybrid position/force control is excellent in the case of the exactly-known dynamic model of the robot, but degrades seriously as the uncertainty of the model increases. Hence, the neural network control scheme is presented here to overcome such shortcoming. The introduced neural term is designed to learn the uncertainty of the robot, and to control the robot through uncertainty compensation. Further more, the learning rule of the neural network is derived and is shown to be effective in the sense that it requires neither desired output of the network nor error back propagation through the plant. The proposed scheme is verified through the simulation of hybrid position/force control of a 6-dof robot manipulator.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1750-1751
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• 2007

이동하고자 하는 경로에 자석 마커를 설치하고 마커의 자계를 인식하여 경로를 추종하는 이동 로봇의 경로 제어시스템이다. 자석마커 간격 확장과 여러 환경에 따른 자계를 분석하기 위해 자동 자계 측정 장치를 제작하였고, 이를 이용한 실측을 통하여 지자기 제거를 확인하였다. 지자기가 제거된 마커 자기장 값의 정규화와 선형화를 통하여 이동 경로 상에서 위치 인식이 수월하도록 하였으며, 인식된 경로 정보로 이동 로봇의 경로 제어가 가능하도록 하였다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1991.04a
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• pp.284-289
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• 1991

3차원 자유곡면을 볼엔드밀을 사용하여 금형가공을 할 경우, 가공면에는 공구경로에 따른 흔적과 NC공작기계의 직선보간시 발생되는 가공오차에 의하여 공작물 상에 가공오차가 필연적으로 발생되게 된다. 따라서 공작기계상에 서 금형가공을 수행한 후에는 가공오차를 제거하고 금형의 표면을 매끄럽게 하기위하여 연마작업이 픽수적으로 요구 되고있다. 본 연구에서는 3차원 자유곡면으로 이루어진 금형의 연마가공에 로봇을 도입하고, 이를 위한 로봇 작업단의 경로 제어시비전문가라 할지라도 CAM시스템으로 부터 금형 가공용 NC공작기계의 공구경로데이타(Cutter Location Data)를 받으면 자유곡면을 모형화한 후 자유곡면의 법선벡터와 연마로봇 작업단의 위치벡터를 자동으로 생성하고, 그에 따른 로봇의 작업명령을 자동으로 생성할 수 있는 CAMPoli 오프라인 로봇 프로그래밍 시스템을 개발하였다. CAMPoli시스템은 마이크로소프트사의 WINDOWS/386 오퍼레이팅 시스템을 이용하여 IBM-PC/386 상에서 개발되었으며 그주요한 내용들은 다음과 같다. i) CAM시스템으로 부터 입력된 CL-데이타로부터 연마면에 대한 자유곡면을 생성하고, ii) 연마공정의 데이타베이스에 기초한 연마면수의 지정 및 변경을 수행하고, iii) 자유곡면 연마를 위한 로봇 작업단의 위치벡터와 법선벡터를 계산하고, iv) 기존의 로봇언어를 이용한 오프라인 소스프로그램(Source Program)을 생성 및 그래픽 시뮬레이션 하는 과정으로 구축되었다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1992.04a
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• pp.148-152
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• 1992

수치제어(NC: numerical control) 기술은 공장자동화를 위한 중요기술이다. 우리산업현장에 공장 자동화가 확장되면 서 NC 공작기계산업용 로봇, 삼차원 좌표측정기 등의 사용이 매우 증가되고있다. 이러ㅗ한 수치제어용 기계에서는 자동 위치제어를 위하여 길이변위와 회전각도감지용센서인 NC 엔코더가 매우 중요한 부품이다. NC 엔코더에는 선형 엔코더( NC-스케일)와 회전 엔코더가 있으며, 각각 직선운동과 회전운동을 제어하기위해서 필요한 자동화 부품이다. 선형 엔코 더는 직선운동의 변위를 감지하며 NC-스케일 이라고도 말한다. 우리 나라에서는 아직 엔코더 제작기술을 개발하지 못하여 전량수입에의존하고 있다. 이러한 NC 엔코더의 수요는 해외시장뿐만 아니라 국내시장에서도 급격히 증가 되고있으며 국산화 개발이 시급하다. 이 글에서는 NC-스케일 제조기술을 개발함에있어서 연구하였던 참조위치 마크(Rrference Mark)설계 기술을 정리한다.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.10
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• pp.180-189
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• 2014

For a autonomous parking of unmanned car, this paper proposes a posture regulation algorithm of a car-like mobile robot, which is supported by a docking formation and a feedback linearization control law. Unlike the previous researches based on a path-planning and optimization algorithms, the autonomous car implemented the proposed autonomous parking algorithm can be parked without much computational burden and a high performance processor. Stability of the proposed docking formation and feedback linearization control law are analyzed and performance of the proposed algorithm is shown by implementing to the simulations with six scenarios and an actual car in the experiment place.

• Journal of IKEEE
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• v.25 no.3
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• pp.437-444
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• 2021

In this paper, we propose an autonomous driving algorithm that allows a robot to explore various terrains, and implement an application that can monitor the robot's movement path during terrain search. The implemented application consists of a status unit that indicates the position, direction, speed, and motion of the mobile robot, a map unit that displays terrain information obtained through terrain search, and a control unit that controls the movement of the mobile robot. In order to control the movement of the robot, only the start and stop of the search/return is commanded by the application, and all driving for the search is performed autonomously. The basic algorithm for terrain search uses an infrared sensor to check for obstacles in the order of left, front, right, and rear, and if there is no obstacle and the path traveled is a dead end, it returns to the previous position and moves in the other direction to continue the search. Repeat the process to explore the terrain.