• Journal of the Korean Society for Precision Engineering
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• v.12 no.10
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• pp.25-31
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• 1995

In this paper, a direct drive scalar robot manipulator is constructed and its mechanical machanism for operation is explained. Also, a motion controller board for the direct drive robot manipulator was developed where the IBM 486 computer is the main controller. For the developed direct drive robot, a force/motion control algorithm based on an active compliance scheme is developed. A preliminary experiment using the developed direct drive for a peg-in-hole job was done by implementing the control algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.239-243
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• 1989

This paper represents the control software development for Direct Drive Arm Robot with the WHILE language composed the 68000 assembly language and high level language modula-2. Direct Drive Ann Robot needs the control program which is fast step and exactly position moving because Direct Drive Arm Robt depends on accuracy. We found that the self-tuning algorithm for this robot control is very good for the real time control and the floating point operation using the 32 bit CPU(MC 68020) controller.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.372-376
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• 1990

This paper represents a control method of improving the performance of direct drive robot. The direct transfer of torque and rotational speed of direct drive motor to the robot body without reduction gear makes the robot speed fast. However, the variation of inertia matrix and low friction cause the control difficult, and one more effort must be in the reducing the acceleration and deceleration time to reduce the cycle time. To fasten the cycle time and to improve the robustness of robot, one control method is developed, and implemented in the Goldstar DD robot. This method does not need to change the conventional PI type control structure, but one additional compensational control law is required. The control law can be obtained via inverse dynamic model of robot, and inverse model of existing control loop. The effects of this control law are shown in this paper.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.11
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• pp.1819-1826
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• 1997

Direct-drive robots are suitable to the position and force control with high accuracy, but it is difficult to design a controller because of the system's nonlinearity and link-interactions. This paper is concerned with the study of the force control of direct-drive robots. The proposed algorithm consists of feedback controllers and a neural network. After the completion of learning, the output of feedback controller is nearly equal to zero, and the neural network controller plays an important role in the control system. Therefore, the optimum retuning of parameters of feedback controllers is unnecessary. In other words, the proposed algorithm does not require any knowledge of the controlled system in advance. The effectiveness of the proposed algorithm is demonstrated by the experiment on the force control of the parallelogram link-type direct-drive robot.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.82-85
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• 1988

This paper are the manufacture of controller of direct drive arm robot using 32 bit CPU(MC 69020). The work would draw on KIT of Robotics Laboratory whose extensive experience in 16 bit CPU Controller(MC 68008) in addition to the WHILE languages. We found that this controller is good for the direct drive arm robot controller for the use of self-tuning algorithms and real time control.

• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.53-57
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• 2024

A hopping robot can move through a confined environment while overcoming obstacles. To create a small hopping robot, it must be able to generate a large amount of energy and release it at the same time. However, due to the small size of the robot, there is a limit to the size of the actuator that can be used, so it is mainly used to collect energy in an elastic element and release it at once. In this paper, we propose a small hopping robot with a simplified design by removing ancillary parts and enabling continuous hopping using only a small actuator based on a direct-drive method. In addition, repeated actuation over the rated voltage can cause thermal breakdown of the actuator. To check the safety of the actuator at high voltage, we perform modeling to predict the temperature of the actuator and verify the accuracy of the modeling through experiments.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1222-1224
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• 1996

The Hong Ik Direct Drive Arm(HIDDA) is a SCARA typed direct drive manipulator with two degrees-of-freedom(DOF) using the direct drive motor of the NSK company. The direct NSK motors are used to give a large torque directly to the link, to reduce the modeling errors from the gears and chains. But, since the nonlinear coupling torques are transferred to the motor shaft without any reduction, we must consider a dynamic control algorithm. In this paper, we designed a robot controller for the HIDDA using a TMS320C31, which has the highest performance among the third DSP chips in the TI company. And we developed the integrated environment software of the robot management system to give the users an easy way of programming, running and simulation of the robot on the PC.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.346-349
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• 1995

In this paperwe develop a real-time simulator for direct drive cooperative robot by using OpenGL in a Windows NT based system. This simulator is composed of 2 parts, a display part and an interface part. In the display part the robot is modelled and rendered in 3D space. To do this OpenGL, a kind of graphic library, is used for rendering and animating robots and kinematics gives the information of the current robot configuration. The control and the feedback data are sent and received via the interface part. In real time simulation interfacing part needs fast data transfer rate and good nosic immunity. In experiment we have simulated 2-link direct drive cooperative robots using the trajectory tracking algorithm proposed in reference.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.520-522
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• 1996

The Direct Drive Arm(DDA) is a SCARA typed direct drive manipulator with two degrees-of-freedom(DOF) using the direct drive motor of the NSK company. A controller system for the SCARA robot of DDA is designed using a DSP (TMS32Oc3O), which has the highest performance among the third DSP chips in the TI company. The design objective of the system is to implement dynamic control algorithms and neural control algorithms for real time learning which require a lot of calculations and large memory and have been tested only by simulations so far. The controller uses a DSP, a high speed D/A, 32-bit Counter and a large DRAM to implement advanced robot control algorithms.

• Journal of Advanced Marine Engineering and Technology
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• v.21 no.3
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• pp.284-292
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• 1997

This paper is concerned with position control of direct drive robots. The proposed algorithm consists of the feedback controller and neural networks. Mter the completion of learning, the output of the feedback controller is nearly equal to zero, and the neural networks play an important role in the control system. Therefore, the optimum retuning of control parameters is unnecessary. In other words, the proposed algorithm does not need any knowledge of the con¬trolled system in advance. The effectiveness of the proposed algorithm is demonstrated by the experiment on the position control of a parallelogram link-type direct drive robot.