• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.254-259
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• 1992

In this paper, we propose an optimal method for the tracking a trajectory of the end-effector of flexible robot arms with multiple joints. The proposed method finds joint trajectories and joint torques necessary to produce the desired end-effector motion of flexible manipulator. In inverse kinematics, optimized joint trajectories are computed from elastic equations. In inverse dynamics, joint torques are obtained from the joint equations by using the optimized joint trajectories. The equations of motion using finite element method and virtual work principle are employed. Optimal control is applied to optimize joint trajectories which are computed in inverse kinematics. The simulation of flexible planner manipulator is presented.

• Proceedings of the KIEE Conference
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• 1996.11a
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• pp.389-391
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• 1996

A Hybrid technique is introduced in this paper for a manipulator with 2 DOF flexible links. The manipulator dynamics plus the actuator dynamics is controlled by taking force feedback for the end-effector of the link 2 while controlling the position of link I to control the position of the end-effector.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.4
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• pp.361-367
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• 2015

This paper presents the design concept of an intrinsic continuum robot for safe man-machine interface and characteristic behaviors of its end-effector based on real experiments. Since pneumatic artificial muscles having similar antagonistic actuation to human muscles are used for main backbones of the proposed robot as well as in the role of the actuating devices, variable stiffness of robotic joints can be available in the actual environment. In order to solve the inherent shortcoming of an intrinsic continuum robot due to bending motion of the backbone materials, a Kalman filter scheme based on a triaxial accelerometer and a triaxial gyroscope was proposed to conduct an attitude estimation of the end-effector of the robot. The experimental results verified that the proposed method was effective in estimating the attitude of the end-effector of the intrinsic continuum robot.

• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.309-315
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• 2020

This study shows a control strategy that acquires both precision and manipulation sensitivity of remote center motion with manual traction for a surgical assistant robot. Remote center motion is an essential function of a laparoscopic surgical robot. The robot has to keep the position of the insertion port in a three-dimensional space, and general laparoscopic surgery needs 4-DoF (degree-of-freedom) motions such as pan, tilt, spin, and forward/backward. The proposed robot consists of a 6-axis collaborative robot and a 2-DoF end-effector. A 6-axis collaborative robot performs the cone-shaped trajectory with pan and tilt motion of an end-effector maintaining the position of remote center. An end-effector deals with the remaining 2-DoF movement. The most intuitive way a surgeon manipulates a robot is through direct teaching. Since the accuracy of maintaining the remote center position is important, direct teaching is implemented based on position control in this study. A force/torque sensor which is attached to between robot and end-effector estimates the surgeon's intention and generates the command of motion. The predefined remote center position and the pan and tilt angles generated from direct teaching are input as a command for position control. The command generation algorithm determines the direct teaching sensitivity. Required torque for direct teaching and accuracy of remote center motion are analyzed by experiments of panning and tilting motion.

• Journal of Applied Biological Chemistry
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• v.50 no.3
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• pp.109-114
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• 2007

Sar1p is a ras-related GTP-binding protein that functions in intracellular protein transport between the endoplasmic reticulum (ER) and the Golgi complex. The effector domain of Ras family proteins is highly conserved and this domain is functionally interchangeable in plant, yeast and mammalian Sar1. Using a recombinant Brassica sar1 protein (Bsar1p) harboring point mutations in its effector domain, we here investigated the ability of Sar1p to bind and hydrolyze GTP and to interact with the two sar1-specific regulators, GTPase activating protein (GAP) and guanine exchange factor (GEF). The T51A and T55A mutations impaired Bsar1p intrinsic GTP-binding and GDP-dissociation activity. In contrast, mutations in the switch domain of Bsar1 did not affect its intrinsic GTPase activity. Moreover, the P50A, P54A, and S56A mutations affected the interaction between Bsar1p and GAP. P54A mutant protein did not interact with two regulating proteins, GEF and GAP, even though the mutation didn't affect the intrinsic GTP-binding, nucleotide exchange or GTPase activity of Bsar1p.

• 한국균학회소식:학술대회논문집
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• 2015.11a
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• pp.26-26
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• 2015

Phytophthora infestans is the causal agent of potato and tomato late blight, one of the most devastating plant diseases. P. infestans secretes effector proteins that are both modulators and targets of host plant immunity. Among these are the so-called RXLR effectors that function inside plant cells and are characterized by a conserved motif following the N-terminal signal peptide. In contrast, the effector activity is encoded by the C terminal region that follows the RXLR domain. Recently, I performed in planta functional profiling of different RXLR effector alleles. These genes were amplified from a variety of P. infestans isolates and cloned into a Potato virus X (PVX) vector for transient in planta expression. I assayed for R-gene specific induction of hypersensitive cell death. The findings included the discovery of new effector with avirulence activity towards the Solanum bulbocastanum Rpi-blb2 resistance gene. The Rpi-blb2 encodes a protein with a putative CC-NBS-LRR (a coiled-coil-nucleotide binding site and leucine-rich repeat) motif that confers Phytophthora late blight disease resistance. We examined the components required for Rpi-blb2-mediated resistance to P. infestans in Nicotiana benthamiana. Virus-induced gene silencing was used to repress candidate genes in N. benthamiana and to assay against P. infestans infections. NbSGT1 was required for disease resistance to P. infestans and hypersensitive responses (HRs) triggered by co-expression of AVRblb2 and Rpi-blb2 in N. benthamiana. RAR1 and HSP90 did not affect disease resistance or HRs in Rpi-blb2-transgenic plants. To elucidate the role of salicylic acid (SA) in Rpi-blb2-mediated resistance, we analyzed the response of NahG-transgenic plants following P. infestans infection. The increased susceptibility of Rpi-blb2-transgenic plants in the NahG background correlated with reduced SA and SA glucoside levels. Furthermore, Rpi-blb2-mediated HR cell death was associated with $H_2O_2$, but not SA, accumulation. SA affects basal defense and Rpi-blb2-mediated resistance against P. infestans. These findings provide evidence about the roles of SGT1 and SA signaling in Rpi-blb2-mediated resistance against P. infestans.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.12 no.6
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• pp.132-141
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• 2013

Robotic Drilling Systems(RDSs) set the standard for the factory automation systems in aerospace manufacturing. With the benefits of cost effective drilling and predictive maintenance, RDSs can provide greater flexibility in the manufacturing process. The system can be easily adopted to manage very complex and time-consuming processes, such as automated fastening hole drilling processes of large aircraft sections, where it would be difficult accomplished by workers following teaching or conventional guided methods. However, in order to build an RDS based on a CAD model, the precise calibration of the Tool Center Point(TCP) must be performed in order to define the relationships between the fastening-hole target and the End Effector(EEF). Based on the kinematics principle, the robot manipulator requires a new method to correct the 3D errors between the CAD model of the reference coordinate system and the actual measurements. The system can be called as a successful system if following conditions can be met; a. seamless integration of the industrial robot controller and the IO Level communication, b. performing pre-defined drilling procedures automatically. This study focuses on implementing a new technology called iGPS into the fastening-hole-drilling process, which is a critical process in aircraft manufacturing. The proposed system exhibits better than 100-micron 3D accuracy under the predefined working space. Based on the proposed EEF fastening-hole machining process, the corresponding processes and programs are developed, and its feasibility is studied.

• International Journal of Control, Automation, and Systems
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• v.1 no.1
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• pp.68-75
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• 2003

This paper presents an effective trajectory planning algorithm for industrial robot manipulators. Given the end-effector trajectory in Cartesian space, together with the relevant constraints and task specifications, the proposed method is capable of planning the optimum end-effector trajectory. The proposed trajectory planning algorithm considers the joint acceleration limit, end-effector velocity limits, and trajectory allowance. A feedforward compensator is also incorporated in the proposed algorithm to counteract the delay in joint dynamics. The algorithm is carefully designed so that it can be directly adopted with the existing industrial manipulators. The proposed algorithm can be easily programmed for various tasks given the specifications and constraints. A three-dimensional test trajectory was planned with the proposed algorithm and tested with the Performer MK3s industrial manipulator. The results verified effective manipulator performance within the constraints.

• Journal of Biosystems Engineering
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• v.37 no.1
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• pp.65-74
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• 2012

Purpose: An autonomous robot was developed for harvesting strawberries cultivated in bench-type systems. Methods: The harvest robot consisted of four main components: an autonomous vehicle, a manipulator with four degrees of freedom (DOF), an end effector with two DOFs, and a color computer vision system. Strawberry detection was performed based on 3D image and distance information obtained from a stereo CCD color camera and a laser device, respectively. Results: In this work, a Cartesian type manipulator system was designed, including an intermediate revolute axis and a double driven arm-based joint axis, so that it could generate collision-free motions during harvesting. A DC servomotor-driven end-effector, consisting of a gripper and a cutter, was designed for gripping and cutting the strawberry stem without damaging the strawberry itself. Real-time position tracking algorithms were developed to detect, recognize, trace, and approach strawberries under natural light conditions. Conclusion: The developed robot system could harvest a strawberry within 7 seconds without damage.

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.1
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• pp.35-44
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• 1996

A design method for a teleoperator robot system is presented in this paper. The control system consists of two phases; approach phase and contact one. The end-effector position of the estimated slave robot and the contact force between the end-effector and wall are displayed on the monitors at control site, using which the operator controls the teleoperator system. The approach phase controller is designed using Smith's principle and the contact one designed based upon the structured singular value ${\mu}$ in order to increase the robustness of the system. The uncertainatices such as communication time delay and the variations of system parameters are considered as a muliplicative pertubation. Computer simulations are conducted in order to evaluate the performance of the proposed design method. It is found that desirable control performance, especially in the contact phase, is obtained if the control mode is switched into contact phase when the estimated position of the slave robot end-effector is in front of the wall.