• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
• /
• pp.58-62
• /
• 1988

Recently many adaptive control schemes for the industrial robot manipulator have been developed. Especially, learning control utilizing the repetitive motion of robot and based on iterative signal synthesis attracts much interests. However, since most of these approaches excludes the boundness of the input torque supplied to the manipulator, its effectiveness may be limited and also the full dynamic capacity of the robot manipulator can not be utilized. To overcome the above-mentioned difficulties and meet the desired performance, we propose an approach which yields the effective learning control schemes in this paper. In this study, some stability conditions derived from applying the Lyapunov theory to the discrete linear time-varying dynamic system are established and also an optimization scheme considering the bounded input torque is introduced. These results are simulated on a digital computer using a three-joint revolute manipulator to show their effectiveness.

• 제어로봇시스템학회논문지
• /
• 제4권4호
• /
• pp.479-486
• /
• 1998

In this paper, the design and the implementation of a robust adaptive controller for trajectory tracking of robot manipulator is presented. The proposed control scheme ensures that tracking errors are converged to some boundaries in the presence of a state-dependent input disturbances as well as the ideal case without any prior knowledge of the robot manipulator parameters. The 3 DOF robot manipulator including actuator dynamics is used for the implementation of the proposed control scheme. The experimental results show that the proposed control scheme is valid for trajectory tracking of the robot manipulator.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.422-422
• /
• 2000

Parallel manipulators have been used to a variety of applications, including the motion simulators and mechanism for precise machining. A Stewart-Gough type parallel manipulator is composed of six linear joints which have wider contact areas than revolute ones, so linear joints are more affected by frictional force. First, the reference trajectories are computed from the model of the parallel manipulator assuming that it is subject to only the gravitational force and no friction exists. In the actual operation where friction exists, the control inputs, which correspond to the friction forces, are obtained by forcing the actual joint variables to follow these trojectories by proper control. It is shown that control performance can be improved when the friction compensation based on this information is added to the controller for position control of the moving plate of a parallel manipulator.

• 제어로봇시스템학회논문지
• /
• 제20권6호
• /
• pp.651-656
• /
• 2014

This paper presents a compensation method for an accelerometer to measure acceleration data accurately when a robot manipulator moves slowly. Although the accelerometer works fine under the fast movement of a robot manipulator, low cost accelerometers provide relatively inaccurate acceleration data under slow movements. In order to correct the error of the sensor data in the slow motion, correction factors are obtained experimentally. Then those corrected data are used for the disturbance observer. Experimental studies of the position control of a robot manipulator are conducted by applying the DOB (Disturbance Observer) control using corrected acceleration data.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.129.5-129
• /
• 2001

When a robot manipulator performs some task like grinding or assembling, not only the position control but also the force control of the tools connected to the robot must be controlled. But at this time We were received the uncertainty problems of system information for the force control, for example disturbance, senor resolution and measurement noise. Therefore we proposed fuzzy logic control method instead of existing control theory for the robot manipulator control, for example PID control method. In this paper, We proposed hybrid position/force control of robot manipulator using fuzzy logic control method. To show the validity of the proposed fuzzy controller, We compared fuzzy controller with conventional PID controller.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.1455-1458
• /
• 1996

In this paper trajectory tracking control problems are described for a robot manipulator by using pneumatic actuator. Under the assumption that the so-called independent joint control is applied to the control system, the dynamic model for each link is identified as a linear second-order system with input time-delay by the step response. Then, an optimal servo controller is designed by taking account of such a time-delay. The effectiveness of the proposed control method is illustrated through some simulations and experiments for the robot manipulator.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
• /
• pp.32-35
• /
• 1987

An adaptive control scheme has been recognized as an effective approach for a robot manipulator to track a desired trajectory in spite of the presence of nonlinearties and parameter uncertainties in robot dynamic models. In this paper, an adaptive control scheme for a robot manipulator is proposed to design the self-tuning controller which combines the pole placement with the extended linearized perturbation model. And this control scheme has two components: a feadforward control and a feedback compensation control. Based on this, the controller is demonstrated by the simulation about position control of a three-link manipulator with payload and parameter uncertainty.

• 한국해양공학회지
• /
• 제30권5호
• /
• pp.415-425
• /
• 2016

This paper presents the results of a study on the control system for an underwater manipulator controlled by a master arm through LED communication. The underwater manipulator was designed to be actuated by electric motors with six degrees of freedom for operation in various underwater environments. The master arm, which can remotely control the manipulator, was designed with a structure similar to the manipulator for convenient control. An underwater LED communication system was developed to communicate between the master arm and underwater manipulator. An integrated control program was developed that included data conversion, monitoring, datalogging, and filtering. Some experiments were performed to verify the performance of the developed control system of the master arm, manipulator, and LED communication system, and the results are presented.

• 대한기계학회논문집
• /
• 제19권6호
• /
• pp.1371-1381
• /
• 1995

A novel hybrid control scheme to actively control the endpoint position of a very flexible single-link manipulator is proposed. The control scheme consists of a motor mounted at the beam hub and a piezofilm actuator bonded to the surface of the flexible link. The control torque of the motor to produce a desired motion is firstly determined by employing the sliding mode control theory on the equation of motion of the rigid link having the same mass as that of the proposed flexible link. The torque is then applied to the flexible manipulator in order to activate the commanded motion. During the motion, undesirable oscillation is actively suppressed by applying a feedback control voltage to the piezofilm actuator. Consequently, the imposed desired position is accomplished. In order to demonstrate high control performances accrued from the proposed method, computer simulations are undertaken by treating both regulating and tracking control problems.

• 전기학회논문지
• /
• 제57권10호
• /
• pp.1876-1882
• /
• 2008

Nano manipulator is used to manufacture Carbon NanoTube(CNT) tips. Using nano manipulator, operator attaches a CNT at the apex of Atomic Force Microscope(AFM) tip, which requires a mastery of mechanics and long manufacture time. Nano manipulator is installed inside a Scanning Electron Microscope(SEM) chamber to observe the operation. This paper presents a control scheme for horizontal axes of nano manipulator via processing SEM image. Edges of AFM tip and CNT are first detected, and the position information so obtained is fed to control horizontal axes of nano manipulator. That is, a visual servoing loop is realized to control the axes more precisely in nano scale.