• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.43.1-43
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• 2002

1. Introduction 2. Design of the Sensorized Microgripper 3. Sensing and Control of Position and Force 4. Experiments 5. Conclusions

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.5
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• pp.645-652
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• 2010

For free motions, vibration suppression of single flexible manipulators has been one of the hottest research topics. However, for cooperative motions of multiple flexible manipulators, a little effort has been devoted for the vibration suppression control. So, the aim of this paper is to develop a hybrid force/position control and vibration suppression control scheme for multiple cooperation flexible manipulators handling a rigid object. In order to clarify the discussion, the motions of dual-arm experimental flexible manipulator are considered. Using the developed model, we control a robotic system with hybrid position/force control scheme. Finally, Experiments are performed, and a comparison of experimental results is given to clarify the validity of our control scheme.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.12
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• pp.48-58
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• 2010

In this study, position tracking and force reflection control of a master-slave manipulator which will be used for handling objects contaminated by radioactivity has been addressed. Since available measurements concerning on dynamic motion of the master-slave manipulator are restricted, a simple constrained control structure was suggested. In the consideration of the uncertain dynamic behaviors of the slave manipulator which is dependent upon mass and shape of work pieces grasped and dynamic properties of the environment contacted, a simple structured sliding mode control was suggested to guarantee robustness with respect to parameter uncertainties and external disturbances. The proposed control was applied to a 1-DOF master-slave link system. The control performances were verified along with some computer simulation results.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.12
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• pp.2315-2327
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• 1992

A robot assembly method which uses configuration and force/torque information of tactile sensor system and performs chamferless peg-in-hole tasks is suggested and experimentally studied. When the robot gripes the peg with random orientation, the realignment of the peg to the hole center line is successfully performed with the gripping configuration information of the tactile sensor and the inverse kinematics of the robot. The force/torque information of the tactile sensor makes it possible to control the contacting force between mating parts during hole search stage. The suggested algorithm employs a hybrid position/force control and the experiments show that the algorithm accomplishes well peg-in-hole tasks with permissible small contacting force. The chamferless peg-in-hole tasks with smaller clearance than the robot repeatibility can be excuted without any loss or deformation of mating parts. This study the possibility of precise and chamferless parts mating by robot and tactile sensor system.

• Journal of Drive and Control
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• v.12 no.4
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• pp.21-27
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• 2015

The accurate position control of pneumatic driving apparatus is considered in this paper. In pneumatically actuated positioning systems, accurate positioning as an electrical servo has been known to be difficult because of the friction force and compressibility of the air. For good control performance of the pneumatic system, an actuator mounted with externally pressurized air bearings is produced to compensate for friction force. For the controller design, the governing equation of the pneumatic driving apparatus is derived. In order to reduce the nonlinear characteristics of the control valve, linearized control input is derived from the relation between the effective area of the valve and the control input. The experimental results are presented to show the results of the improved position control of the pneumatic driving apparatus.

• Journal of the Korean Society of Physical Medicine
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• v.3 no.3
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• pp.145-149
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• 2008

Purpose : The purpose of this study was evaluate the effects of vibration on joint position sense. Methods : The subjects were divided into vibration group(n=20) and control group(n=20). Vibration group was given local vibration on elbow joint for 15 minutes and control group was given resting 15 minutes by resting position. All subjects of each group were tested pre-post on maximal grip force and joint position sense. Results : Maximal grip force test and joint position sense test of vibration group was showed a significant difference between pre and post(p<0.05). Conclusion : There was a different change on maximal grip force and joint position sense.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.10
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• pp.894-902
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• 2000

This paper proposes a force reflection control method with a speed saturation compensation scheme for the slave manipulators having a speed saturation due to the high reduction ratio joints. When speed saturation is generated, the proposed force reflection control method not only shows an anti-windup feature in controlling the slave manipulator but also makes the master manipulator move slowly using the force reflection caused by saturation. In this way, the position of the slave manipulator tracks the reference position regardless of speed saturation. The experimental results show that the proposed control method provides excellent performance.

• Proceedings of the KSME Conference
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• 2004.04a
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• pp.917-922
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• 2004

As the tasks of robots become more diverse, some complicated tasks have come to require force and position hybrid control. A compliant device can be used to control force and position simultaneously by separating the twist of the robot's end effector from the twist of compliance and freedom by using stiffness mapping of the compliant device. The development of a fuzzy gain scheduling scheme of control for a robot with a compliant device is described in this paper. Fuzzy rules and reasoning are performed on-line to determine the gain of twists based on wrench error and twist error and twist of compliance and twist of freedom ratio. Simulation results demonstrate that better control performance can be achieved in comparison with constant gain control.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.3
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• pp.388-397
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• 2009

There are many tasks which require robotic manipulators interaction with environment. It consists of three control problems, i.e., position control, impact control and force control. The position control means the way of reaching to the environment. The moment of touching to the environment yields the impact control problem and the force control is to maintain the desired force trajectory after the impact with the environment. These three control problems occur in sequence, so each control algorithm can be developed independently. Especially for redundant manipulators, each of these three control problems has been important independent research topic. For example, joint torque minimization and impulse minimization are typical techniques for such control problems. The three control problems are considered as a single task in this paper. The position control strategy is developed to improve the performance of the task, i.e., minimization of the individual joint torques and impulse. Therefore, initial conditions of the impact control problem are optimized at the previous position control algorithm. Such a control strategy yields improved result of the impact control. Similarly, the initial conditions for the force control problem are indirectly optimized by the previous position control and impact control strategies. The force control algorithm uses the individual joint torque minimization concept. It also minimizes the force disturbances. The simulation results show the proposed control strategy works well.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.7
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• pp.189-195
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• 2000

For free motions, vibration suppression of flexible manipulators has been one of the hottest research topics. However, for constrained motions, a little effort has been devoted for vibration suppression control. Using the dependency of elastic deflections of links on contact force under static conditions, vibrations for constrained planar two-link flexible manipulators have been suppressed successfully by controlling the contact force. However, for constrained spatial multi-link flexible manipulators, the vibrations cannot be suppressed by only controlling the contact force. So, the aim of this paper is to clarify the vibration mechanism of a constrained, multi-DOF, flexible manipulator and to devise the suppression method. We apply a concise hybrid position/force control scheme to control a flexible manipulator modeled by lumped-parameter modeling method. Finally, a comparison between simulation and experimental results is presented to show the performance of our method.