• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.244-249
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• 1989

For the robot manipulator in performing precision tasks, it is indispensable that the robot utilize the various sensors for intelligence. In this paper, the hybrid position/force control method is implemented with a force/torque sensor, two personal computers, and a PUMA 560 manipulator. Two application S/W packages for edge following and peg-in-hole tasks are developed by the proposed force control algorithm. The related experimental results are then presented and discussed,

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1396-1401
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• 2004

In recent years, robot has been used widely in industrial field and has been expanded as a result of continous research and development for high-speed and miniaturization. The goal of this paper is to design the special serial manipulator through the understanding of the structure, mobility, and analysis of serial manipulator. Thereafter we control the position and orientation of end-effector with respect to time. In general, a structure of industrial robot consists of several links connected in series by various types of joints. Typically revolute and prismatic joints. The movement of these joints is determined in inverse kinematic analysis. Compared to the complicated structure of parallel and hybrid robot, open loop system retains the characteristic that each link is independent and is controlled easily by AC servomotor that is used to place the robot end-effector toward the accurate point with the desired speed and power while it is operated by position control algorithm. The robot end-effector should trace the given trajectory within the appropriate time. The trajectory of 3D end-effector model made by OpenGL can be displayed on the monitor program simultaneously

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2000-2003
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• 2003

In recent years, robots have been used widely in industrial field and have been expanded as a result of continuous research and development for high-speed and miniaturization. The goal of this paper is to design the serial manipulator through kinematic analysis and to control the position and orientation of end-effector with respect to time. In general, a structure of industrial robot consists of several links connected in series by various types of joints, typically revolute and prismatic joints. The movement of these joints is determined in inverse kinematic analysis. Compared to the complicated structure of parallel and hybrid robot, open loop system retains the characteristic that each link is independent and is controlled easily. AC servo motor is used to place the robot end-effector toward the accurate point with the desired speed and power while it is operated by position control algorithm. The robot end-effector should trace the given trajectory within the appropriate time. The trajectory of end-effector can be displayed on the monitor of general personal computer through Opengl program.

• Journal of Electrical Engineering and Technology
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• v.12 no.2
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• pp.926-936
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• 2017

The nonlinear behavior and the high performance requirement are the main problems that appear in the design of manipulator robots and their controllers. For that reason, the simulation, real-time execution and comparison of the performance of controllers applied to a robot with three degrees of freedom are presented. Five controllers are prepared to test the robot's dynamic model: predictive; hyperbolic sine-cosine; sliding mode; hybrid composed of a predictive + hyperbolic sine-cosine controller; and adaptive controller. A redundant robot, a communication and signal conditioning interface, and a simulator are developed by means of the MatLab/Simulink software, which allows analyzing the dynamic performance of the robot and of the designed controllers. The manipulator robot is made to follow a test trajectory which, thanks to the proposed controllers, it can do. The results of the performance of this manipulator and of its controllers, for each of the three joints, are compared by means of RMS indices, considering joint errors according to the imposed trajectory and to the controller used.

• The Journal of Korea Robotics Society
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• v.11 no.2
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• pp.41-50
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• 2016

This paper describes the effect of a robot cognitive rehabilitation program on cognitive functions for the elderly with mild cognitive impairment, and compares it with traditional cognitive therapy programs. Three experiment groups including cognition therapy group, robot cognitive rehabilitation group, and hybrid group have been sampled and one comparative group has been organized for this research. 32 old people whose ages are between 61 and 88 with mild cognitive impairment participated in the programs with an admission of W care hospital. According to the program results, the cognitive therapy program alone had shown a positive effect on the attention function, and the robot cognitive rehabilitation program alone had a positive effect on the total intelligence and memory function. However, a simultaneous operation with both programs had shown a positive effect on the three intelligence areas such as total, basic, and management quotients as well as attention and memory functions as subsidiary factors. This paper has verified that the proposed robot cognitive rehabilitation program makes a positive effect on a cognitive function and plays a complementary role with traditional cognitive therapy programs.

• Journal of the Korean Institute of Intelligent Systems
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• v.2 no.3
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• pp.58-67
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• 1992

This paper presents a method on applying Genetric Algorithms(GA), which is a well-know high performance optimizing algorithm, to construct the self-organizing fuzzy logic controller. Fuzzy logic controller considered in this paper utilized Sugeno's hybrid inference method. which has an advantage of simple defuzzification process in the inference engine. Genetic algorithm is used to find the iptimal parameters in the FLC. The proposed approach will be demonstrated using 2 d. o. f robot manipulator to verify its effectiveness.

• Journal of the Optical Society of Korea
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• v.19 no.4
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• pp.421-426
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• 2015

This paper presents a hybrid single optical system for an LED surgical light that combines the advantages of both lens- and reflector-type single optical systems. The proposed hybrid single optical system includes a lens in the center and the LED light originating from the lens is redirected using a reflector to achieve a high beam spread. Iterative optical software simulations are used to provide data for the design of the lens and reflector for a single optical system, and for a complex optical system for the LED light assembly. The resulting data is also used to fabricate a prototype system. Experiments using the prototype of the hybrid single optical system and a mock-up LED surgical light confirm the system's shadow dilution performance and its applicability to surgical operations.

• Journal of Advanced Marine Engineering and Technology
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• v.33 no.6
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• pp.932-938
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• 2009

As a stringing troy wire is installed by manual operation, it is necessary to scheme the automatic system for stringing troy wire. To accomplish a task of this kind, in this paper an approach to designing controllers for the hybrid Position/Tension control of a stringing troy wire is presented. Position control system is designed based on equation of dc motor and motion equation of robot, it is controlled by feedback with a detected speed dc motor. Tension control system is designed based on equation of ac servomotor for generating torque and dynamic equation of a troy wire, it is controled by feedback with a detected tension. The control parameters is determined by simulation in independence operation of each system. To suppress a mutual interference that the disturbance occur in operating of two task at same time. Dynamic hybrid control is proposed by feed forward compensator with a disturbance accelerator and a step torque at start. The operation of proposed system is simulated and experimented, results is verified the utilities.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.2
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• pp.105-110
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• 1990

In this paper, a compliance robot control algorithm using a PID adaptive controller is proposed. The compliance robot is suitable for the tasks in contact with environment, such as assembly operation or surface processing. A hybrid robot control method can control force and position simultaneously and two independant feedback closed loops are formed in this method. Because the compliance robot is operated in contact with environment, it is very difficult to obtain linear model of dynamics for this robot. In order to overcome this difficulty, a PID adaptive controller independant of robot dynamics is applied to the compliance robot. The proposed control algorithm for the compliance robot was analyzed and conformed by simulating the surface processing task by a two-joint robot.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2033-2038
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• 2003

This paper describes an integrated navigation strategy for the autonomous service robot PSR. The PSR is under development at the KIST for service tasks in indoor public environments. The PSR is a multi-functional mobile-manipulator typed agent, which works in daily life. Major advantages of proposed navigation are as follows: 1) Structured control architecture for a systematic integration of various software modules. A Petri net based configuration design enables stable control flow of a robot. 2) A range sensor based generalized scheme of navigation. Any range sensor can be selectively applied using the proposed navigation scheme. 3) No need for modification of environments. (No use of artificial landmarks.) 4) Hybrid approaches combining reactive behavior as well as deliberative planner, and local grid maps as well as global topological maps. A presented experimental result shows that the proposed navigation scheme is useful for mobile service robot in practical applications.