• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2003년도 춘계학술대회 논문집
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• pp.234-239
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• 2003

A cylindrical shape object is widely used as a mechanical part and a water pipe or an oil pipeline which are of cylindrical shape are widely used in the infrastructure. In order to handling such objects automatically using a robot, the posture i.e. orientation in 3D space should be recognized. However, since there is no edge or vertex in the pipe, it is very difficult task for the robot. In this paper in order to guide the robot, two kind of algorithms which find the axis using the measured range data from the robot to the object surface are to be developed. The algorithms are verified using both the simulated range data and the measured one.

• 대한전기학회논문지:시스템및제어부문D
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• 제50권3호
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• pp.143-148
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• 2001

A lot of robot trajectory tracking methods are proposed to enhance the tracking error, but irregular tracking errors are always accompanied and very hard to reduce it. Up to now, these irregular tracking errors are reduced by introducing more complicated control algorithms. But, it is intuitively obvious to reduce only the big errors selectively in the irregular ones for the better performance instead of using more complicated control algorithms. By the characteristics of the robot, big tracking errors of the end-effector are generated mostly due to the fast moving of joint. So, in this paper, we introduce a new method which reduce the big tracking errors by clippings the joint velocity with the constraint of given path. Using this method, desired trajectory tracking is obtained within the far reduced error bound. Also, this method is successfully applied to generate the path-constrained error reducing trajectories for 2-axis SCARA type robot.

• International Journal of Control, Automation, and Systems
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• 제5권3호
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• pp.343-348
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• 2007

This paper presents an adaptive controller for the compensation of state-dependent disturbance with unknown amplitude in a digital servo motor system. The state-dependent disturbance is caused by friction and eccentricity between the wheel axis and the motor driver of a mobile robot servo system. The proposed control scheme guarantees an asymptotical stability for both the velocity and position regulation. An experimental result shows the effectiveness of the adaptive disturbance compensator for wheeled-mobile robot in a low velocity diffusion tracking. A comparative experimental study with a simple PI controller is presented.

• 로봇학회논문지
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• 제18권1호
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• pp.37-47
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• 2023

This paper introduced how to construct Denavit-Hartenberg (DH) parameters from the Unified Robot Description Format (URDF). URDF is convenient for describing a robot even though the robot is very complex. On the other hand, DH convention is not an easy notation for many novices who want to describe a robot. Therefore, most vendors provide URDF and users prefer to use URDF to describe a robot. However, some controllers or algorithms are based on DH parameters to perform kinematics, dynamics, control, etc. To connect URDF and DH parameters, we present a three-step approach to construct DH parameters from URDF. The first step is to define the joint axis for constructing DH parameters. The second step is constructing DH parameters to define joint character. The final step is constructing DH parameters to define the coordinate frame of the child link. This approach is based on intuitive vector calculation and guarantees the uniqueness of DH parameters. To verify our approach, we applied our approach to a simple one-link robot, a manipulator with 6 DOF, and a quadruped robot with 3 DOF per leg. We verified that our approach worked well based on forward kinematic results.

• 한국공작기계학회논문집
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• 제14권3호
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• pp.54-59
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• 2005

The cylindrical object are widely used as mechanical parts in the manufacturing process. In order to handling those objects using a robot or an automated machine automatically, the pose of the object must be known. The pose can be described by two rotation angles; one angle about the x axis and the other about the y axis. In the many previous researches these angles were obtained by the computationally intensive algorithm, that is, fitting the data as a polynomial and doing pseudo inverse. So that, this method required high performance microprocessor. In this paper in order to avoid complex computation, a new method based on a genetic algorithm is proposed and analyzed through a series of simulations. This algorithm utilized the geometry of the cylindrical shape. The simulation results show that this method find the pose angles very well In most cases, but the computation time is randomly changed because the genetic algorithm is basically one of the random search method.

• 전자공학회논문지 IE
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• 제45권4호
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• pp.42-46
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• 2008

LED의 생산은 L/F기판 위에 Die본딩과 Wire본딩을 한다. 그리고 LED Chip을 보호하고 휘도를 개선시키기 위하여 epoxy를 dispensing한다. 이 논문에서 실린지 속에 담겨 있는 eopxy의 양을 자동 검출하여, 그 양에 따른 압력과 시간의 data를 자동 보정 제어하고, 일정량의 epoxy가 토출되는 X-Y-Z축의 반복정밀도 보정용 기구물의 설계를 통하여 토출량을 일정하게 제어하고 불량율을 감소시켜 생산성을 높인다.

• 한국컴퓨터정보학회논문지
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• 제19권3호
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• pp.11-16
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• 2014

본 논문은 예측제어기를 이용하여 2휠 로봇의 실시간 균형을 유지할 수 있는 자세 제어에 대해 연구하였다. 또한 역방향 진자 제어는 로봇이 진행하는 동안 균형을 유지하기 위하여 도입되었다. 본 논문에서 구현에 사용한 프로세서는 dsPIC30F4013 임베디드 프로세서이며 자체 균형 알고리즘을 설계하고 구현 하는 것이다. 본 연구에서 ARS는 2축의 자이로 각(roll, pitch)과 3축의 가속도계 값(x, y, z)값으로 자세를 계산하도록 하였다. 따라서 본 연구에서는 외란에 대한 자세의 불균형을 극복하기 위한 예측제어기를 제안했으며 이를 원격 시스템의 제어문제에 도입하여 2바퀴 로봇의 선형 제어기와 예측제어기를 결합한 시스템의 시뮬레이션을 수행하였다. 또한 강인한 특성을 실현하기 위해 목표 필터루프를 설계하고 강인도-안정성을 만족하는 제어기를 설계하므로 제어시스템의 안정성을 향상시키고 시스템의 성능의 저하를 최소화함을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.137-141
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• 1988

A sampled data controller for the quadruped walking robot is presented. To provide systematic design procedure, the relation between PI gain of velocity controller and sampling rate is analyzed with the ISE performance index and the time responses. The position controller for one-leg, 3-axis, was developed under consideration of compactness and expendability. And several experiments were performed.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2008년도 추계학술대회 논문집
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• pp.503-504
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• 2008

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 추계학술대회 논문집
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• pp.369-370
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• 2009