• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.28-31
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• 1997

This paper describes the quick and precise controlling method for home-applied refrigerator. The proposed controller is based on the fuzzy logic control method and is designed for better performance in maintaining the constant temperature of the refrigerator. The temperature of the refrigerator is controlled by the cooling air blowing fan motor which is put on, off according to fuzzy logic controller. Finally, I study the performance of the proposed controller through the computer simulation about the approximated model of the refrigerator.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1991년도 추계학술대회 논문집 학회본부
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• pp.405-408
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• 1991

In this paper, the algorithm of Resolved Motion Rate Control(RMRC) is applied to the robot manipulator to implement a desired straight trajectory in the cartesian space, PI controller is also used to control the velocity and position which are produced by RMRC algorithm. And Bounded Deviation Method is used to determine the intermediate knot points which satisfy a given tolerence limit, between the straight line segment.

• 전기의세계
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• 제22권5호
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• pp.12-18
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• 1973

This paper deals with Linear Programming by Signal Flow Graph technique which is different from that of Mason and Coates. The objective function is regarded as variable, and slack variable node, artificial variable node and objective function variable (constant) node are newly defined, which shows the process for optimization of solution very intuitively. Also methods for solving L.P. and examples with subject to Ax.leq.b, Ax=b and Ax.geq.b are presented.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2011년도 제42회 하계학술대회
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• pp.1920-1921
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• 2011

본 논문에서는 센서기반 이동로봇의 적응 순항 제어를 위한 선형 관측기 기반의 출력 궤환 제어 방법을 제안한다. 제안된 제어 방법에서는 선도로봇의 속도를 모르는 상태에서 거리센서를 통해 선도 로봇과의 거리를 측정하고 속도와 가속도를 추정하기 위하여 선형 관측기를 이용한다. 마지막으로, 컴퓨터 모의실험과 실제 적용실험을 통해 본 논문에서 제안한 제어기의 성능을 검증하고자 한다.

• 전기학회논문지
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• 제58권4호
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• pp.824-831
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• 2009

This paper proposes an obstacle avoidance algorithm for an autonomous mobile robot. The proposed method based on the circular navigation with probability distribution finds local-paths to avoid collisions. Futhermore, it makes mobile robots to achieve obstacle avoidance and optimal path planning due to the accurate decision of the final goal. Simulation results are included to show the feasibility of the proposed method.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2009년도 제40회 하계학술대회
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• pp.1769_1770
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• 2009

위치 추정기술은 이동 로봇에 있어 매우 중요한 문제이다. 위치 인식을 위해 사용되는 센서는 고가의 센서일수록 정확한 위치정보를 얻을 수 있지만 원가 절감 등의 이유로 저가의 센서를 사용할 경우 오차가 커지고 신뢰도가 하락한다. 오차를 보상하기 위해 본 논문에서는 센서의 잡음 특성을 세분화 하여 고려한 칼만 필터 기반의 위치 추정 알고리즘을 제안한다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 제36회 하계학술대회 논문집 D
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• pp.2790-2792
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• 2005

This paper proposes a path-planning algorithm that enables a robot to reach the goal position while avoiding obstacles. The proposed method, which is based on dynamic programming, finds an optimum path to follow using a modified skeleton map method which exploits information on obstacle positions. Simulation results show the feasibility of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.581-584
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• 1996

This paper presents the robust control of robot manipulators using a decentralized control scheme. The control scheme decouples the coupling dynamics between the joints and compensates the joint variable errors without any computation of the dynamics. The performance of the control scheme is compared with that of other control schemes such as the computed torque scheme and the adaptive control scheme by simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.490-493
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• 1996

This paper presents a control scheme for the motion of a 2 DOF robot manipulator. Robot manipulators are multivariable nonlinear systems. Fuzzy logic is avaliable human-like control without complex mathematical operation and is suitable to nonlinear system control. In this paper, Implementation of fuzzy logic control of robotic manipulators shows. Algorithm has been performed with simulation packages MATRIXx and SystemBuild.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1989년도 하계종합학술대회 논문집
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• pp.685-688
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• 1989

This paper presents two methods for reducing the position error of the robot hand. The first method change the parameters of the D-H transformation using real position error. The other one calibrates the joint angle by using the datas from the known teaching points. SCARA type robot is used for verifing the validity of the proposed methods.