• Journal of Advanced Navigation Technology
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• v.16 no.4
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• pp.586-592
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• 2012

One approach of the control of a nonlinear system that has gained some success employs a fuzzy structure in cooperation with a neural network(ANFIS). The traditional ANFIS can only model and control the process in single-dimensional output nature in spite of multi-dimensional input. The membership function parameters are tuned using a combination of least squares estimation and back-propagation algorithm. In the case of a mobile robot, we need to drive left and right wheel respectively. In this paper, we proposed the control system architecture for a mobile robotic system that employs the 2-input 2-output ANFIS controller for trajectory tracking. Simulation results and preliminary evaluation show that the proposed architecture is a feasible one for mobile robotic systems.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2375-2377
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• 2003

본 논문에서는 2자유도를 가지는 평면형 로봇매니퓰레이터의 궤도제어에 슬라이딩모드 제어기법을 도입한 비 간섭 제어기법을 적용하였다. 따라서 종래의 선형구조해석에 근간을 둔 비 간섭제어와는 달리 파라미터 오차 및 비선형에 의한 영향을 억제할 수 있는 강인한 제어기 설계가 가능하며 매니퓰레이터의 궤도제어에 적용하여 제안한 제어기법의 유용성을 확인하였다.

• The Journal of the Korea institute of electronic communication sciences
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• v.4 no.3
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• pp.236-242
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• 2009

When two-link flexible arm is rotated about an joint axis, transverse vibration may occur. In this paper, vibration dynamics of flexible robot arm is modeled by using Bernoulli-Euler beam theory and Lagrange equation. Using the fact that matrix $\dot{D}$-2C is skew symmetric, new controllers which have a simplified structure with less computational burden is proposed. Lyapunov stability theory is applied to achieve a stable deterministic nonlinear controller for the regulation of joint angle.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.6
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• pp.471-477
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• 2000

The position control accuracy of a robot arm is significantly deteriorated when a long arm robot is operated at a high speed. In this case, the robot arm must be modeled as a flexible structure, not a rigid one, and its control system should be designed with its elastic modes taken into account. In this paper, the tip position control scheme of a one-link flexible manipulator using 2-DOF controller with sliding mode is presented. The robot consists of a flexible arm manufactured with a thin aluminium plate, an AC servo motor with a harmonic drive for speed reduction, an optical encoder and a CCD camera as a vision sensor for on-line measuring the tip deflection of the flexible m. Simulation and experimental results of the flexible manipulator with a proposed controller are provided to show the effectiveness of the controller.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1997.10a
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• pp.33-36
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• 1997

로봇이 지니는 지역적 한계성을 극복하기 위하여 구륜 이동용 로봇에 대한 연구가 전세계적으로 진행되어지고 있으나, 구륜이동로보트는 모델링의 불활실성이나 nonholomic등의 제약조건에 의하여 제어기의 설계시 많은 문제들을 지니게 된다. [1][2]. 이러한 어려움을 해결하기 위해 퍼지 알고리즘을 이용한 제어기 설계가 이루어지고 있으나 제한된 범위게 머무르고 있는 상황이다. 본 연구에서는 유전알고리즘에 근거하여 소속함수 및 규칙부의 자율적 조졸을 수행하는 구륜이동로보트의 퍼지 제어기를 한다. 제시된 알고리즘에서 퍼지 입출력 소속함수의 조절을 각각 독립적으로 이루어지며, 출력 소속함수의 유사지표에 근거하여 규칙부의 조절이 이루어진다.

• Journal of Digital Convergence
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• v.12 no.6
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• pp.349-354
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• 2014

A maze-escaping method with cooperating work of robots alongside one another will be proposed in this paper. Educational robots can communicate each other using Zigbee; however, they can't solve problems together due to their lack of arithmetic function. The robots walk upright controlled by a motion program; furthermore, they recognize an intersection or a dead-end in the use of distant sensors with sending data and receiving commands from the central control system. The maze-search algorithms were modified so that all robots can effectively navigate the maze.

• KIPE Magazine
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• v.16 no.1
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• pp.31-35
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• 2011

포항지능로봇연구소(PIRO)는 국내 유일의 지능로봇관련 전문연구기관으로 국내외 지능로봇 기술 경쟁력을 확보하고, 대구 경북지역 중소기업의 로봇기술력을 향상시키는 선도역할은 물론 산학연관이 함께 발전할 수 있도록 관련 조직간 상호작용을 촉진하고 로봇관련 신기술 개발을 촉진시키는 역할을 하고 있다. PIRO의 전력전자기술은 크게 통신 제어기, 제어용 디바이스(드라이브 및 액츄에이터), 센싱 기기, 통합 소프트웨어로 나뉠 수 있다. 이러한 기술을 자체적으로 개발함으로써, 기술력의 확보뿐만 아니라 로봇의 실용화에 대한 연구를 병행하고 있다. 본 논문에서는 현재 연구소에서 지향하는 연구개발 방향 및 현재까지의 대표적인 연구결과물을 소개하고, 로봇시스템을 설계 제작함에 있어서, 전력전자 부분에서 고려해야 할 사항을 살펴보고 PIRO에서 수행중인 연구 개발 과정에서의 상용화를 위한 전력전자 기술 기반의 로봇 부품 및 시스템 표준화의 필요성에 대해서 언급하도록 한다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.4
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• pp.698-707
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• 2017

This paper deals with predictive control methods of mobile robots for reference trajectory tracking control. Predictive control methods using predictive model are known as effective schemes that minimize the future errors between the reference trajectories and system states; however, the amount of real-time computation for the predictive control are huge so that their applications were limited to slow dynamic systems such as chemical processing plants. Lately with high computing power due to advanced computer technologies, the predictive control methods have been applied to fast systems such as mobile robots. These predictive controllers have some control parameters related to control performance. But these parameters have not been optimized. In this paper we employed the genetic algorithm to optimize the control parameters of the predictive controller for mobile robots. The improved performances of the proposed control method are demonstrated by the computer simulation studies.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.37 no.3
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• pp.27-38
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• 2000

This paper proposes how the recurrent neural network controller for a Khepera mobile robot with an obstacle avoiding ability can be determined by co-adaptation of the evolution and learning, The proposed co-adaptation scheme consists of two folds： a population of NN controllers are evolved by the genetic algorithm so that the degree of obstacle avoidance might be reduced through the global searching and each NN controller is trained by CRBP learning so that the running behavior is adapted to its outer environment through the local searching. Experimental results shows that the NN controller coadapted by evolution and learning outperforms its non-learning equivalent evolved by only genetic algorithm in both the ability of obstacle avoidance and the convergence speed reaching to the required running behavior.

• Journal of Convergence for Information Technology
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• v.8 no.5
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• pp.77-83
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• 2018

A modular robot that memorizes motion can be easily created and operated because it expresses by hand. However, since there is not enough storage space in the module to store the user-created operation, it is impossible to reuse the created operation, and when the modular robot again memorizes the operation, it changes to another operation. There is no main controller capable of operating a plurality of modular robots at the same time, and thus there is a disadvantage that the user must input directly to the modular robot. To overcome these disadvantages, a remote controller has been proposed that can be operated in the surrounding smart devices by designing web server and component based software using wired and wireless network. In the proposed method, various types of structures are created by connecting to a modular robot, and the reconstructed operation is performed again after storing, and the usefulness is confirmed by regenerating the stored operation effectively. In addition, the reliability of the downloaded trajectory data is verified by analyzing the difference between the trajectory data and the actual trajectory. In the future, the trajectory stored in the remote controller will be standardized using the artificial intelligence technique, so that the operation of the modular robot will be easily implemented.