• 제어로봇시스템학회논문지
• /
• 제10권10호
• /
• pp.878-886
• /
• 2004

Uncertainties are inevitable in robotic assembly in unstructured environment since it is difficult to construct fixtures to guide motions of robots. This paper proposes an augmented Petri net and an algorithm to adapt the assembly model on-line during actual assembly process. The augmented Petri net identifies events using force and position information simultaneously. Unmodeled contact states are identified and incorporated into the model on-line. The proposed method increases the level of intelligence of the robot system by enhancing the autonomy. The proposed method is evaluated by simulation and experiments with L-type peg-in-hole assembly using a two-arm robot system.

• 한국산업정보학회논문지
• /
• 제17권4호
• /
• pp.9-15
• /
• 2012

This paper presents application of a new tactile slippage sensation algorithm in robot hand control system. The optical three-axis tactile sensor is a type of tactile sensor capable of defining normal and shear forces simultaneously. The tactile sensor is mounted on fingertip of robotic hand. Shear force distribution is used to define slippage sensation in the robot hand system. Based on tactile slippage analysis, a new control algorithm was proposed. To improve performance during object handling motions, analysis of slippage direction is conducted. The control algorithm is classified into two phases: grasp-move-release and grasp-twist motions. Detailed explanations of the control algorithm based on the existing robot arm control system are presented. The experiment is conducted using a bottle cap, and the results reveal good performance of the proposed control algorithm to accomplish the proposed object handling motions.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
• /
• pp.135-139
• /
• 1990

In general, the control of robot arms falls into two board categories (position control and force control). The joint interpolated trajectory schemes generally interpolate the desired joint path by a class of polynomial functions and generate a sequence of time based control set points for the control of a manipulator from a initial location to its destination. A digital position controller was designed and adapted to the industrial balancing manipulator. And also, the joint interpolated trajectory using 3rd order polynomial was generated in this study. The IBM PC used as the main controller and the trajectory planner had enough run-time capabilities. The 8097BH microcontroller is an integral pan of the joint controller which directly controls an axis of motion. The PI servo control system to treat each joint of the robot arm as a independent joint servo mechanism had satisfying performance, and a sequence of time-based intermediate configurations of the manipulator hand showed good continuity and smoothness on position and velocity of the manipulator's joint coordinates along the trajectory.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1998년도 하계학술대회 논문집 G
• /
• pp.2305-2308
• /
• 1998

In this paper, a control algorithm which enables robot to cooperate with human is proposed. The method senses the humanbeing's intention by using force/torque sensor attached at the end effector and moves and cooperates as intended by humanbeing. The method also considers safety of the humanbeing by adjusting and limiting the robot speed automatically. The proposed method is verified its performance by computer simulation and experiments for the 2-DOF DD(Direct Drive) Arm in real-time

• 대한의용생체공학회:의공학회지
• /
• 제24권4호
• /
• pp.309-318
• /
• 2003

본 연구는 현재 산업용으로 널리 사용되고 있는 수직 다관절 6자유도 로봇을 의료용 목적으로 적용하기 위해 수행하였다. 이미 산업용으로 제안되어 검증된 로봇을 사용한다면 비용, 시간적인 면에서 상당한 잇점이 있다. 따라서 본 논문에서는 산업용으로 제안된 로봇을 의료 목적으로 사용하여 연구하였다. 본 시스템은 뇌졸중 환자와 같이 한쪽 팔을 다친 사람들을 위해 제안하였다. 한쪽 팔이 비정상이고 다른 팔이 정상인 환자를 대상으로 정상인 팔의 움직임을 획득하여 마비되거나 정상으로 움직이기 어려운 팔을 운동시키도록 마스터-슬레이브 시스템을 구성하였다. 또한 팔꿈치와 어깨의 기구학을 해석하기 위하여 기존의 인체에 관한 연구 결과를 적용하였다. 또한 슬레이브 로봇에 힘 센서를 부착하여 환자의 재활 정도를 측정할 수 있도록 하였으며, 위험 상황에 대비함으로써 슬레이브 로봇의 안전성을 높였다. 이러한 시스템으로 인해 물리치료사의 도움 없이 환자 혼자 운동이 가능하도록 시스템을 구성하였다. 제안된 시스템과 제어 알고리즘은 실험과 시뮬레이션을 통하여 타당성을 검증하였다.

• 대한기계학회논문집A
• /
• 제34권11호
• /
• pp.1741-1747
• /
• 2010

본 연구에서는 원격 조정 매니퓰레이터에 적용할 수 있는 보급형 서비스 로봇 암을 개발하였다. 생체 모방학을 활용하여 새로운 형태의 로봇 손에 대한 개념을 도출하였다. 손가락과 손목은 인체 팔의 근골격에 분석을 통하여 상박에 설치된 와이어와 액추에이터에 의하여 구동된다. DC 모터에 의해 구동되는 스크류-너트 매커니즘을 통하여 구동 케이블에 높은 장력을 발생시킨다. 파지력의 쉬운 제어를 위하여 스크류-너트 메커니즘에 조합 스프링을 적용하였다. 첫 번째 설계에서 손가락 제어 문제, 손가락과 손목 운동의 간섭 문제가 발견되었다. 트리즈의 모순 분석을 통하여 이러한 문제에 대한 해결안을 도출하였다. 두 번째 설계에 대하여 다양한 형태와 무게의 물체에 관하여 파지와 동작 테스트를 시행하였다.

• 한국통신학회논문지
• /
• 제15권8호
• /
• pp.708-714
• /
• 1990

본 논문에서는 링크가 가볍고 유연한 로보트 매니퓰레이터에 대해 손의 끝점을 측정하여 기준 궤적을 추종하기 위한 자기 동조 제어기를 제안하고 컴퓨터 시뮬레이션을 통해 제안된 알고리듬의 성능을 입증하였다. 제어 대상으로 2개의 링크를 갖는 유연성 로보트 매니퓰레이터를 설정하고, 모델의 구성은 중력 작용이 포함된 가정 모드 형태 방법을 사용하여, 각 링크의 전동 모드를 2가지로 채택하여 동력학 방정식을 유도하였으며, 제어기는 공칭 토크를 가하는 동적 전향 보상기와 교정 토크를 가하는 자기 동조 궤환 제어기를 결합시킨 합성 제어기로 구성하였다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
• /
• pp.263-266
• /
• 1994

Recently, complicated and dexterous tasks with two or more arms are needed in ninny robot manipulator applications which can not be accomplished with one manipulator. In general, when two arms manipulate an object, tile dynamics of the arms and the object should be considered simultaneously. In order to control the force of tile arms, we can use various control schemes based upon dynamic modeling. But, there are difficulties in solving inverse dynamics equations, and the environment where a manipulator performs various tasks is usually unknown, and we can not describe a model precisely, for instances, the effect of the joint flexibility, and the friction between the arm and the object. Therefore, in this paper, we suggest a new force control method employing fuzzy inference without solving dynamic equations. Fuzzy inference rules and parameters are designed and adjusted with the automatic fuzzy modeling method using the Hough transform and gradient descent method.

• Journal of Mechanical Science and Technology
• /
• 제14권2호
• /
• pp.188-196
• /
• 2000

In this paper, our aim is to develop a model for two cooperating flexible manipulators handling a rigid object by using lumped parameters. This model is in turn analyzed on MATLAB. In order to validate the model, a precise simulation model is developed using $ADAMS^{TM}$ (Automatic Dynamic Analysis of Mechanical System). Moreover, to clarify the discussion, the motions of a dual-arm experimental flexible manipulator are considered. Using the developed model, we control a robotic system with a symmetric hybrid position/force control scheme. Finally, experiments and simulations are performed, and a comparison of simulation results with experimental results is given to a rerify the validity of our model.

• 대한전기학회논문지:시스템및제어부문D
• /
• 제53권2호
• /
• pp.127-134
• /
• 2004

In this paper, human motor behaving model based sensory motor coordination(SMC) algorithm is implemented on robotic grasping task. Compare to conventional SMC models which connect sensor to motor directly, the proposed method used biologically inspired human behaving system in conjunction with SMC algorithm for fast grasping force control of robot arm. To characterize various grasping objects, pressure sensors on hand gripper were used. Measured sensory data are simultaneously transferred to perceptual mechanism(PM) and long term memory(LTM), and then the sensory information is forwarded to the fastest channel among several information-processing flows in human motor system. In this model, two motor learning routes are proposed. One of the route uses PM and the other uses short term memory(STM) and LTM structure. Through motor learning procedure, successful information is transferred from STM to LTM. Also, LTM data are used for next moor plan as reference information. STM is designed to single layered perception neural network to generate fast motor plan and receive required data which comes from LTM. Experimental results showed that proposed method can control of the grasping force adaptable to various shapes and types of greasing objects, and also it showed quicker grasping-behavior lumining time compare to simple feedback system.