• ICROS
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• v.1 no.1
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• pp.16-16
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• 1995

Like the usual systems, the industrial robot manipulator has some constraints for motion. Usually we hope that the manipulators move fast to accomplish the given task. The problem can be formulated as the time-optimal control problem under the constraints such as the limits of velocity, acceleration and jerk. But it is very difficult to obtain the exact solution of the time-optimal control problem. This paper solves this problem in two steps. In the first step, we find the minimum time trajectories by optimizing cubic polynomial joint trajectories under the physical constraints using the modified evolution strategy. In the second step, the controller is optimized for robot manipulator to track precisely the optimized trajectory found in the previous step. Experimental results for SCARA type manipulator show that the proposed method is very useful.

• Transactions on Control, Automation and Systems Engineering
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• v.1 no.1
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• pp.16-20
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• 1999

Like the usual systems, the industrial robot manipulator has some constraints for motion. Usually we hope that the manipulators move fast to accomplish the given task. The problem can be formulated as the time-optimal control problem under the constraints such as the limits of velocity, acceleration and jerk. But it is very difficult to obtain the exact solution of the time-optimal control problem. This paper solves this problem in two steps. In the first step, we find the minimum time trajectories by optimizing cubic polynomial joint trajectories under the physical constraints using the modified evolution strategy. In the second step, the controller is optimized for robot manipulator to track precisely the optimized trajectory found in the previous step. Experimental results for SCARA type manipulator show that the proposed method is very useful.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.406-412
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• 1996

Optimal trajectory for a robot manipulator minimizing actuator torques or energy consumption in a fixed traveling time is obtained in the presence of obstacles. All joint displacements are represented in finite terms of Fourier cosine series and the coefficients of the series are obtained optimally by nonlinear programming. Thus, the geometric path need not be prespecified and the full dynamic model is employed. To avoid the obstacles, the concept of penalty area is newly introduced and this penalty area is included in the performance index with an appropriate weighting coefficient. This optimal trajectory will be useful as a geometric path in the minimum-time trajectory planning problem.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.3
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• pp.147-155
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• 1997

Optimal trajectory for a robot manipulator minimizing actuator torques or energy consumptions ina fixed traveling time is obtained in the presence of obstacles. All joint displacements are represented in finite terms of Fourier cosine series and the coefficients of the series are obtained optimally by nonlinear programming. Thus, the geometric path need not be prespecified and the full dynamic model is employed. To avoid the obstacles, the concept of the penalty area is newly introduced and this penalty area is includ- ed in the performance index with an appropriate weighting coefficient. This optimal trajectory will be useful as a geometric path in the minimum-time trajectory planning problem.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.68 no.1
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• pp.172-181
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• 2019

This paper deals with the problem of generating the energy optimal trajectory which is intended to enhance the target tracking performance of a passive homing missile. Noticing that the essence of passive target tracking is the range estimation problem, the target information gathered by passive measurements can be readily analyzed by introducing the range estimator designed in line-of-sight(LOS) frame. Moreover, for the linear filter structure of the suggested range estimator, the cost function associated with the target information is clearly expressed as a function of the line-of-sight rate. Based on this idea, the optimal missile trajectory maximizing the target information is obtained by solving the saddle point problem for an indefinite quadratic cost which consists of the target information and the energy. It is shown that, different from the previous heuristic approaches, the guidance command producing the optimal passive homing trajectory is produced by the modified proportional navigation guidance law whose navigation constant is determined by the weighting coefficient for target information cost.

• Korean Journal of Construction Engineering and Management
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• v.11 no.4
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• pp.68-79
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• 2010

During the last two decades, several tele-operated and machine-vision-assisted systems have been developed in construction and maintenance area such as pavement crack sealing, sewer pipe rehabilitation, and excavation. In developing such tele-operated and machine-vision-assisted systems, trajectory plans are very important tasks for optimal motions of robots whether their environments are structured or unstructured. This paper presents an optimal trajectory planning algorithm used for a machine-vision-assisted automatic pavement crack sealing system. In this paper, the performance of the proposed optimal trajectory planning algorithm is compared with the greedy trajectory plans which are used in previously developed pavement crack sealing systems. The comparison is based on computational cost versus overall gains in crack sealing efficiency. Finally, it is concluded that the proposed algorithm plays an important role in productivity improvement of the automatic pavement crack sealing system developed.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.7
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• pp.599-604
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• 2013

Path planning of mobile robots has a purpose to design an optimal path from an initial position to a target point. Minimum driving time, minimum driving distance and minimum driving error might be considered in choosing the optimal path and are correlated to each other. In this paper, an efficient driving trajectory is planned in a real situation where a mobile robot follows a moving object. Position and distance of the moving object are obtained using a web camera, and the rotation angular and linear velocities are estimated using Kalman filters to predict the trajectory of the moving object. Finally, the mobile robot follows the moving object using a single curvature trajectory by estimating the trajectory of the moving object. Using the estimation by Kalman filters and the single curvature in the trajectory planning, the total tracking distance and time saved amounts to about 7%. The effectiveness of the proposed algorithm has been verified through real tracking experiments.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.168-171
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• 1993

In this paper, we design a time optimal controller of a dual arm robot to handle the object. Differently from the master-slave type robot, same priority is imposed on the both of the arms for effective handling the specifed object. For finding a time optimal collision-free trajectory, a graphical method is applied for the robot with two degree of freedom. Some simulation results show the effectiveness of the proposed method.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.1
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• pp.77-83
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• 2005

This paper deals with determination of motions of a humanoid robot using genetic algorithm. A humanoid robot has some problems of the structural instability basically. So, we have to consider the stable walking gait in gait planning. Besides, it is important to make the smoothly optimal gait for saving the electric power. A mobile robot has a battery to move autonomously. But a humanoid robot needs more electric power in order to drive many joints. So, if movements of walking joints don't maintain optimally, it is difficult for a robot to have working time for a long time. Also, if a gait trajectory doesn't have optimal state, the expected life span of joints tends to be decreased. To solve these problems, the genetic algorithm is employed to guarantee the optimal gait trajectory. The fitness functions in a genetic algorithm are introduced to find out optimal trajectory, which enables the robot to have the less reduced jerk of joints and get smooth movement. With these all process accomplished by a PC-based program, the optimal solution could be obtained from the simulation. In addition, we discuss the design consideration for the joint motion and distributed computation of the humanoid, ISHURO, and suggest its result such as the structure of the network and a disturbance observer.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.10
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• pp.998-1011
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• 2010

For preparing Korean lunar missions, an Earth-Moon transfer trajectory is designed and analyzed using finite thrust. To be a more realistic scenario, kick motor's performance which is used for TLI (Trans Lunar Injection) maneuver is assumed to have a certain maximum capability. Under this assumption, optimal Earth-Moon transfer trajectory analysis is made from the beginning of Earth departure to the final lunar closest approach. As a results, optimal Earth-Moon transfer trajectory solutions with finite thrust are compared to those of designed with impulsive thrust in previous study. It is confirmed that if the trajectory solutions derived with impulsive burn is directly applied to estimate the finite burn trajectory solutions, careful consideration for finite burn losses must be paid as for TLI maneuver. Presented algorithm and various results will give numerous insights into the future Korea's Lunar missions using finite thrust engines.