• Journal of Institute of Control, Robotics and Systems
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• v.2 no.4
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• pp.270-278
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• 1996

복잡한 비선형성과 불확실한 변수를 가지는 유연 죠인트 로봇의 견실한 관측기 설계에 관한 연구이다. 시간 불변 또는 시간 가변성의 불확실한 변수들을 가지는 시스템에 적용한 경우이며 로봇 링크의 각도와 각속도들을 출력으로 하였다.본 견실 관측기는 리아프노프 방법에 기초를 두었으며 불확실한 변수들은 그값을 모르나 그 값들은 지정된 집합내에 존재한다. 제안된 견실 관측기는 실용적인 안정성을 보장한다. 관측기설계의 알고리즘을 2링크 유연 죠인트 로봇에 적용하여 시뮬레이션을 수행하여 우수한 성능을 가짐을 확인할수 있었다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.3
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• pp.643-650
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• 2017

The control of flexible joint robot is getting more attentions because its applications are more frequently used for robot systems in these days. This paper proposes a robust impedance controller for the flexible joint robot by using integral sliding mode control and backstepping control. The sliding mode control decouple disturbances completely but requires matching condition for disturbances. The dynamic model of flexible joint robot is divided into motor side and link side and the disturbance of the link side does not satisfy matching condition and cannot be decoupled directly by the actual input in the motor side. To overcome this difficulty, backstepping control technique is used with sliding mode control. The mismatched disturbance in the link side is changed into matched one in the respect to virtual control input which is the state controlled by actual input in the motor side. Integral sliding mode control is used to preserve the impedance control performance and the improved robustness at the same time.

• Journal of the Korean Institute of Navigation
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• v.23 no.4
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• pp.97-104
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• 1999

본 논문은 퍼지신경망을 이용한 유연성 단일 링크 로봇 매니퓰레이터의 위치제어에 관한 논문이다. 제안된 퍼지신경망 모델은 전건부와 결론부에 퍼지집합을 갖는 퍼지규칙으로 구성된 퍼지모델을 표현하고, 퍼지추론을 수행하는 기능을 가진다. 유연성 로봇 매니퓰레이터에 대한 동적모델을 유도하고, 시뮬레이션을 통해 PID 제어기와 비교 분석하였다. 그 결과 제안된 제어기가 PID 제어기보다도 개선된 성능을 확인하였다.

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.5
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• pp.1139-1144
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• 2012

The ration of payload to weight of industrial robot amounts form 1:10 to 1:30. Compared with man who have a ration of 3:1, it is very low. One of the goals for the next generation of robots will be a ration. This might be possible only by developing lightweight robots. When two-link flexible arm is rotated about an joint axis, transverse vibration may occur. In this paper, vibration dynamics of flexible 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 by using Lyapunov stability theory. We propose deterministic and adaptive control laws for two link flexible arm, and the validity of the proposed control scheme is shown in computer simulation for two-link flexible arm.

• Journal of KSNVE
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• v.6 no.6
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• pp.791-800
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• 1996

Linear LQG controller has been investigated to control flexible link manipulators. The performance and complexity of these depend largely on the model upon which the controller is designed. In this study, the flexible modes of the link manipulator are considered to have uncertain parameters, which can be represented by random variable and these parameters are reflected on the weighting of performance. In this method, the exact modelling for the flexible modes is not necessary. The order of the resulting controller is much lower than the one based on a full model. Through numerical study, it is shown that the performance and the stability-robustness of the proposed controller reaches reasonably the one based on the full model.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.1
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• pp.62-68
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• 1996

Linear controllers, such as LQG/LTR controller, have been investigated to control flexible link manipulators. The performance and complexity of these depend largely on the linearized model upon which the controller is designed. In this study, singular perturbation model is tested in designing a LQG/LTR controller for a flexible link manipulator. The order of the resulting controller is much lower than the one based on a full model. Through numerical study, it is shown that the performance of the proposed controller reaches reasonably to the one based on the full model.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.342-345
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• 1995

This paper describes the design process and the experimental results of a fuzzy logic controller to control the tip position of a fixible-link manipulator, directly driven by a AC motor, with a large payload. The joint angle fuzzy logic controller is designed without a costly nonlinear system analysis of the flexible manipulator and the AC motor drive system. The state variables for the fuzzy logic controller are joint angle, joint velocity, link deflection, and link deflection velocity. The simulation and experimental results show that the joint position control is not satisfactory when the controller is designed under the assumption of no link flexibility and that stable joint position control and link vibration suppression can be cahieved with the fuzzy logic controller suggested in this paper.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2498-2500
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• 2005

본 논문에서는 복잡한 비선형 동력학 시스템에서의 신뢰성 있고, 융통성 있는 동작을 위한 디지털제어기의 퍼지 모델 기반 설계 도구를 제안하고, 연속시간 비선형 시스템을 위해 퍼지 모델 기반 제어기의 지능형 디지털 재설계를 위한 방법을 제안한다. 이를 위해, 연속시간 시스템에 대해 연속시간 TS 퍼지 모델이 구성되고, 그 다음 연속시간 퍼지 모델 기반 제어기는 등가의 이산시간 퍼지 모델 기반 제어기로 변환된다. 마지막으로 단일링크 유연로봇 시스템의 디지털 제어에 제안된 방법을 적용해 그 효용성을 입증한다.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.2
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• pp.160-168
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• 1997

A $H_{\infty}$self-tuning control scheme for the tip position of a flexible link robot handling unknown loads is presented here. The scheme essentially comprises a recursive least-squares identification algorithm and $H_{\infty}$self-tunning controller. The $H_{\infty}$control low is designed to be robust to uncertain parameters and the self-tunning action provides adaption to unknown parameters. Through numerical study, the performance comparison of the $H_{\infty}$self-tuning controller with a constant gain $H_{\infty}$controller as well as a LQG self-tuning controller clearly shows its superior ability in handling load changes in quiescent states.nt states.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.357-358
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• 2013