• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.197-200
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• 1996

This paper considers feedback error learning neural networks for robot manipulator control. Feedback error learning proposed by Kawato [2,3,5] is a useful learning control scheme, if nonlinear subsystems (or basis functions) consisting of the robot dynamic equation are known exactly. However, in practice, unmodeled uncertainties and disturbances deteriorate the control performance. Hence, we presents a robust feedback error learning scheme which add robustifying control signal to overcome such effects. After the learning rule is derived, the stability is analyzed using Lyapunov method.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.84.3-84
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• 2002

$\textbullet$ iconic localization method $\textbullet$ initial robot pose estimation $\textbullet$ genetic algorithms $\textbullet$ map matching

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.2
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• pp.228-233
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• 2004

Nowadays, the robot with various and complex functions is required. previous algorithms, however, cannot satisfy the requirement. In order to solve these problems, we introduce the 2-Layer Fuzzy Controller, which has a small number of fuzzy rules corresponding to various inputs and outputs. Also, it controls robustly and effectively an object. The main problem in the fuzzy controller is how to design the fuzzy rule. This paper designs the optimal 2-layer fuzzy controller using the Schema Co-Evolutionary Algorithm. The schema co-evolutionary algorithm can find more rapidly and excellently than simple genetic algorithm does.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.4
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• pp.245-254
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• 2014

In this paper, stable and robust dynamic walking for a biped motion is proposed. To success this objective, the following structures are processed. In this paper, the proposed control method is one that adjusts actual zero moment position to move to the closest possible point in the stable area instead of following desired zero moment position. This minimizes energy consumption with the smallest joint movements. The proposed control method makes mechanical energy that drives lower limb of the bipedal robot efficient. In this paper, walking experiment is carried out with the three control structures mentioned above. The trajectory generated by off-line is illustrated by performing to walking on flat ground. experiment with an obstacle whose height is lower than that of trajectory is executed to validate dynamic motion.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1832-1835
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• 2005

This paper presents the steering control algorithm of an up and down motion robot using a quaternion. The up and down motion robot is to be moved on an irregular floor that can inevitably result in the errors of both position and orientation. Especially the orientation error should be compensated every work in order to adjust the misaligned values of current orientation to those commanded values. In this paper, we propose a new steering control algorithm between the two values by using a quaternion with spherical cubic interpolation. The proposed algorithm is shown to be effective in terms of vibration when compared to a conventional simple compensation without interpolation, by using $MATLAB^{(R)}$ and $VisualNastran4D^{(R)}$

• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.375-384
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• 2020

Today's robots consist of many hardware and software subsystems, depending on the functions needed for specific tasks. Integration of subsystems can require a great deal of effort, as both the communication method and protocol of the subsystem can vary. This paper proposes an expandable robotic system in which all subsystems are integrated under Robot Operation System (ROS) framework. To achieve this, the paper presents a software library, ROS_M, developed to implement the TCP/IP-based ROS communication protocol in different control environments such as MCU and RT kernel based embedded system. Then, all the subsystem including hardware can use ROS protocol consistently for communication, which makes adding new software or hardware subsystems to the robotic system easier. A latency measurement experiment reveals that the system built for loop control can be used in a soft real-time environment. Finally, an expandable mobile manipulator robot is introduced as an application of the proposed system. This robot consists of four subsystems that operate in different control environments.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.5 no.1
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• pp.144-149
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• 2001

There are many types of seam tracking methods actually used in industrial spot. Lately, Non-contact sensor technics are mostly used because non-contact sensor has more advantage than contact sensor in many parts. This paper also concerned about fiber sensor a kind of non-contact sensor. X-Y robot and fiber sensor scan the seam tracking to be weld. After scanning, X-Y robot moves the first working point of being scanned and welding starts automatically. It makes an experiment on some types of Seam tracking like straight line tracking, leaned line tracking and curved line tracking to confirm how well the fibers sensor tracks the seam pass to be weld. And the seam pass that had been tracked was welded by inverter $CO_2$ voiding machine.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2000.10a
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• pp.558-561
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• 2000

There are many types of seam tracking methods actually used in industrial spot. Lately, Non-contact sensor technics are mostly used because non-contact sensor has more advantage than contact sensor in many parts. This paper also concerned about fiber sensor a kind of non-contact sensor. X-Y robot and fiber sensor scan the seam tracking to be weld. After scanning, X-Y robot moves the first working point of being scanned and welding starts automatically. It makes an experiment on some types of Seam tracking like straight line tracking, leaned line tracking and curved line tracking to confirm how well the fibers sensor tracks the seam pass to be weld. And the seam pass that had been tracked was welded by inverter CO2 welding machine.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.3
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• pp.136-144
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• 2014

This paper proposes a new approach to the designed of visual feedback control system based on visual servoing method. The main focus of this paper is presents how it is effective to use many features for improving the accuracy of the visual feedback control of industrial articulated robot for assembling and inspection of parts. Some rank conditions, which relate the image Jacobian, and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. The effectiveness of redundant features is verified by the real time experiments on a SCARA type robot(FARA) made in samsung electronics company.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.4
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• pp.216-223
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• 2015

Recently Manipulation capability is important for a robot. Interaction between a robot hand and objects can be properly controlled only is suitable sensors are available. Recently the tendency is to create robot hands more compact and high integrated sensors system, in order to increase the grasping capability and in order to reduce cabling through the finger, the palm and the arm. As a matter of fact, miniaturization and cabling harness represents a significant limitation to the design of small sized embedded sensor. Ongoing work is focusing on a flexible manipulation system, which consists of a dual flexible multi-fingered hand-arm system, and a dual active vision system.