• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.229-232
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• 1996

The position control accuracy of the robot arm is decreased significantly when a long arm robot is operated at high speed. In this case, the robot arm must be modeled as a flexible structure, not a rigid one, and its control system will be necessarily designed with its elastic modes taken into account. In this paper, the vibration control of a one-link flexible robot arm is presented. The robot system consists of a flexible arm manufactured with thin aluminium plate, AC servomotor with a harmonic drive for speed reduction, optical encoder and accelerometer. The system is modeled with limited number of elastic modes, and its parameters are determined from the results of the experiments. The implemented control schemes are LQ control and sliding mode control. The experiments and digital simulations are carried out to test the validity of the system modeling, controller design, and active control implementation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.139-142
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• 1996

This paper presents a method of controlling contact force for deburring tasks. The cope with the nonlinearities and time-varying properties of the robot and the environment, a neural network control theory is applied to design the contact force control system. We show that the contact force between the hand and the contacting surface can be controlled by adjusting the command velocity of a robot hand, which is accomplished by the modeling of a robot and the environment as Mass-Spring-Damper system. Simulation results are shown.

• 동력기계공학회지
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• 제21권1호
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• pp.30-36
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• 2017

In robot industries, the request to obtain a high efficiency and accurately controlled electric actuator has been growing. Nevertheless, the effectiveness of electric actuators is significantly affected by the presence of factors such as nonlinearity, uncertain disturbance and unknown dynamics. Therefore, it makes difficult to derive an exact mathematical model of the controlled system. In this paper, a new method for easily recognizing and regenerating robot motions used in small size industries such as painting and welding parts is proposed. Instead of modeling the entire dynamic motion of the robot system, this method is based on the procedure of modeling and controller design for every arm individually. The proposed method does not require complex model and control system such that it gives easy working process to the small size industries. Based on this fact, in this research, the model and PID controller for every arm of the 3 DOF robot system are obtained separately. Some experimental results are implemented to validate the effectiveness of the proposed method.

• 전자공학회논문지B
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• 제30B권9호
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• pp.36-44
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• 1993

In the development of a high speed and light weight manipulator, it is necessary to consider the flexibility of a robotic arm. The infinite dynamics must be analyzed to obtain the finite mode modeling to achieve the feasible controller design of the robotic arm. The modeling procedures of the flexible robot arm, and natural frequencies and mode shapes by the constrained and unconstrained mode method are illustrated. The transfer function of the robot arm with a payload is also shown. The controller is designed by the pole assignment and optimal control theory to compensate for the unmodelled dynamic effects to the low order system. Also, the pole assignment method involving the harmonic vibration mode is presented through computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.741-746
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• 2004

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2540-2545
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• 2003

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

• 융합신호처리학회논문지
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• 제3권2호
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• pp.76-82
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• 2002

본 연구는 유연한 로봇팔의 선단 위치를 제어하기 위한 강인한 제어기의 설계하고 이것의 효과를 실험을 통하여 확인하는 데 있다. 이를 위해 먼저 유연한 로봇팔의 모델링을 Lagrange 방정식을 이용하여 수행하여 시스템의 수식모델을 구한 뒤, 이 모델을 기본으로 하는 강인한 제어기의 설계를 LMI(Linear Matrix Inequality)을 적용한 H$_{\infty}$이론을 도입하여 수행한다. 이 과정에서 로봇팔의 선단부하 변경으로 인한 시스템 파라미터의 변동을 플랜트가 가지는 불확실성 영역으로 간주하여 이를 설계에 적극적으로 반영함으로서 결과적으로 플랜트의 파라미터 변동에 강인한 제어기를 구현하고 이것의 유효성을 실험을 통하여 확인한다. .실험을 통하여 확인한다. .

• 동력기계공학회지
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• 제18권4호
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• pp.91-96
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• 2014

The application of the recent model-based control schemes for robot manipulators require the solution of problems concerning various aspects, from the mechanical design to the necessity of determining a robot model suitable for control, and of experimentally testing the control performances. For one solution, integration of SolidWorks with Simscape for designing and controlling robot manipulators is presented in this paper. The integration provides a platform for rapid control prototyping of robot manipulators without the need for building real prototypes. Mechanical drawings of a robot are first created using Solidworks and imported into the Simscape, where a robot is represented by connected block diagrams based on the principle of physical modeling. Simulation examples for 7-DOF SAM ARM made by Berrett Technology Inc. are testified to show effectiveness of the presented platform.

• 실천공학교육논문지
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• 제16권2호
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• pp.121-128
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• 2024

이 연구는 특성화고 학생들에게 인벤터 소프트웨어를 사용하여 로봇 팔을 디자인하고 3D 프린터를 통해 제작하여 아두이노 마이컴으로 제어하는 융합 교육 방법을 소개하며, 학생들에게 실무 경험을 제공하고 다양한 학문 분야의 지식과 기술을 융합할 수 있는 기회를 제공할 수 있다. 학생들은 CAD 소프트웨어로 디자인을 시작하고, 3D 프린팅 기술을 통해 실제로 로봇 팔의 부품을 제작하며, 마지막으로 부품을 조립한 로봇 팔을 프로그래밍하여 제어하게 하였다. 이 융합교육에서 학생들의 문제 해결능력과 창의성을 키우고, 학습 동기를 높이는 데 도움이 되었고 이런 교육적시도가 실제 교육과정에 적용하기 위해서는 적절한 자원과 교사의 지속적인 관심과 지원이 필요하며, 이러한 연구는 향후 교육에서 적용 가능성을 탐색하기 위한 기초적인 연구로 간주된다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.485-488
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• 2002

In this paper, fuzzy logic controllers are designed for compensation of distance errors. Because we can't know information of the depth in a mono camera, these errors are occurred. Also, they are increased as a target object is to keep away from a center of image. Therefore, the errors for each position of joints of an arm robot should be modeled, but accurate models can't be obtained because of no information of the depth, uncertain feature points of image, parameter uncertainties, and illumination. Hence, fuzzy logic controllers for each error are designed for compensation. This paper consists of color image processing, error modeling, and the controller design. Experimental results are given to verify the effectiveness of our proposed method.