• 제어로봇시스템학회논문지
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• 제10권1호
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• pp.47-53
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• 2004

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is quite difficult to obtain stable control performance. We have applied a disturbance estimation and compensation type robust control to all the axes in a 6-link electro-hydraulic manipulator. It was confirmed that the performance of trajectory tracking and attitude regulating was greatly improved by the disturbance observer. For autonomous assembly tasks, it is said that compliance control is one of the most popular methods in contact task. We have proposed a compliance control based on the position control by a disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedbacked, where not only displacement but also the velocity and acceleration are considered. We have also applied this compliance control to the Peg-in-Hole insertion task and proposed new methods of (1)rotating of the end-effector periodically in order to reduce the friction force, (2)random searching for the center of a hole and (3)trajectory modification to reduce the impact force. As a result of these new methods, it could be experimentally confirmed that the Peg-in-Hole insertion task with a clearance of 0.007 [mm] could be achieved.

• 한국정보과학회논문지:소프트웨어및응용
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• 제36권10호
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• pp.816-824
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• 2009

얼굴영상 공간에서 얼굴영상들은 조명이나 포즈에 의해 비선형적 분포를 갖는다. 이들을 선형모델에 기반을 둔 AAM으로 모델링 하는 것은 한계가 있다. 본 논문에서는 얼굴영상에 대한 몇 개의 군집이 주어졌다고 가정하고, 각 군집 별로 지역적인 AAM 모델을 구축하여 정합과정 중에 적합한 모델이 선택되도록 한다. 정합과정에서 발생하는 모델변경에 따른 모델간의 정합 인자 갱신의 문제는 인자 공간에서 모델간의 선형 관계를 미리 학습하여 해결한다. 심각한 정합 실패에 따른 잘못된 모델 선택을 줄이기 위해 점진적으로 모델변경이 이루어지도록 한다. 실험에서는 제안하는 방법을 Yale-B 조명얼굴 영상에 적용하여 모델을 생성하고 기존 방법과 정합 성능을 비교한다. 제안 방법은 심각한 그림자가 발생하는 강도 높은 조명얼굴 영상에서 성공적인 정합 결과를 보여주었다.

• 전기학회논문지
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• 제67권11호
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• pp.1423-1433
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• 2018

Recently, a permanent magnet synchronous motor of middle and small-capacity has high torque, high precision control and acceleration / deceleration characteristics. But existing control has several problems that include unpredictable disturbances and parameter changes in the high accuracy and rigidity control industry or nonlinear dynamic characteristics not considered in the driving part. In addition, in the drive method for the control of low-vibration and high-precision, the process of connecting the permanent magnet synchronous motor and the load may cause the response characteristic of the system to become very unstable, to cause vibration, and to overload the system. In order to solve these problems, various studies such as adaptive control, optimal control, robust control and artificial neural network have been actively conducted. In this paper, an incremental encoder of the permanent magnet synchronous motor is used to detect the position of the rotor. And the position of the detected rotor is used for low vibration and high precision position control. As the controller, we propose augmented state feedback control with a speed observer and first order deadbeat disturbance observer. The augmented state feedback controller performs control that the position of the rotor reaches the reference position quickly and precisely. The addition of the speed observer to this augmented state feedback controller compensates for the drop in speed response characteristics by using the previously calculated speed value for the control. The first order deadbeat disturbance observer performs control to reduce the vibration of the motor by compensating for the vibrating component or disturbance that the mechanism has. Since the deadbeat disturbance observer has a characteristic of being vulnerable to noise, it is supplemented by moving average filter method to reduce the influence of the noise. Thus, the new controller with the first order deadbeat disturbance observer can perform more robustness and precise the position control for the influence of large inertial load and natural frequency. The simulation stability and efficiency has been obtained through C language and Matlab Simulink. In addition, the experiment of actual 2.5[kW] permanent magnet synchronous motor was verified.