• Title/Summary/Keyword: Robot Control

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Asymptotically stable tracking control of mobile robots (이동로보트의 점근적으로 안정한 추종제어)

  • 김도현;오준호
    • 제어로봇시스템학회:학술대회논문집
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    • 1997.10a
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    • pp.187-190
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    • 1997
  • In the past few years, many researchers are interesting of control of mobile robot with nonholonomic constraints. And tracking problems is important as well as regulation in nonholonomic system control. Some researchers have investigated the stable tracking control law for mobile robot. But, few results showed the globally asymptotically stable control method simply. So, we address the design of globally asymptotically stable tracking control law for mobile robot with nonholonomic velocity constraints using simple method. The stabilizability of the controller is derived by Lyapunov direct method. And we analyze the system responses according to the variation of control parameters in line tracking problem. It is derived that the responses represent no overshoot property in line tracking. Examples are two-wheeled mobile robot and car-like mobile robot and the simulation results represent the effectiveness of our method.

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Independent point Adaptive Fuzzy Sliding Mode Control of Robot Manipulator (로봇 매니퓰레이터의 독립관절 적응퍼지슬라이딩모드 제어)

  • Kim, Young-Tae;Lee, Dong-Wook
    • Journal of the Korean Society for Precision Engineering
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    • v.19 no.2
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    • pp.126-132
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    • 2002
  • Robot manipulator has highly nonlinear dynamics. Therefore the control of multi-link robot arms is a challenging and difficult problem. In this paper an independent joint adaptive fuzzy sliding mode scheme is developed leer control of robot manipulators. The proposed scheme does not require an accurate manipulator dynamic model, yet it guarantees asymptotic trajectory tracking despite gross robot parameter variations. Numerical simulation for independent joint control of a 3-axis PUMA arm will also be included.

A Compensation Control Method Using Neural Network for Mechanical Deflection Error in SCARA Robot with Random Payload

  • Lee, Jong Shin
    • Journal of the Korean Society of Mechanical Technology
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    • v.13 no.3
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    • pp.7-16
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    • 2011
  • This study proposes the compensation method for the mechanical deflection error of a SCARA robot. While most studies on the related subject have dealt with the development of a control algorithm for improvement of robot accuracy, this study presents the control method reflecting the mechanical deflection error which is predicted in advance. The deflection at the end of the gripper of SCARA robot is caused by the self-weights and payloads of Arm 1, Arm 2 and quill. If the deflection is constant even though robot's posture and payload vary, there may not be a big problem on robot accuracy because repetitive accuracy, that is relative accuracy, is more important than absolute accuracy in robot. The deflection in the end of the gripper varies as robot's posture and payload change. That's why the moments $M_x$, $M_y$ and $M_z$ working on every joint of a robot vary with robot's posture and payload size. This study suggests the compensation method which predicts the deflection in advance with the variations in robot's posture and payload using neural network. To do this, I chose the posture of robot and the payloads at random, found the deflections by the FEM analysis, and then on the basis of this data, made compensation possible by predicting deflections in advance successively with the variations in robot's posture and payload through neural network learning.

Vibration Suppression Control for an Articulated Robot;Effects of Model-Based Control Integrated into the Position Control Loop

  • Itoh, Masahiko
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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    • pp.2016-2021
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    • 2003
  • This paper deals with a control technique of eliminating the transient vibration with respect to a waist axis of an articulated robot. This control technique is based on a model-based control in order to establish the damping effect on the driven mechanical part. The control model is composed of reduced-order electrical and mechanical parts related to the velocity control loop. The parameters of the control model can be obtained from design data or experimental data. This model estimates a load speed converted to the motor shaft. The difference between the estimated load speed and the motor speed is calculated dynamically, and it is added to the velocity command to suppress the transient vibration. This control method is applied to an articulated robot regarded as a time-invariant system. The effectiveness of the model-based control integrated into the position control loop is verified by simulations. Simulations show satisfactory control results to reduce the transient vibration at the end-effector.

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Force Control of a Blind Mobile Robot: Analysis, Simulations and Experiments (장님 이동 로봇의 힘 제어 : 분석, 시뮬레이션 및 실험)

  • Jeon, Poong-Woo;Jung, Seul
    • Journal of Institute of Control, Robotics and Systems
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    • v.9 no.10
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    • pp.798-807
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    • 2003
  • We propose a blind mobile robot force control algorithm that uses force information as a guidance toward to the goal position. Based on the mobile robot dynamics, the control law is formed from explicit force errors. Simulation studies are conducted based on the kinematics and the dynamics of the mobile robot. Simulation results show that good force tracking can be achieved. In order to confirm simulation results, experiments are performed. The robot is commanded to follow unknown environment with maintaining a certain desired force. Experimental results show that the blind mobile robot successfully maintains contact with a regulated desired force and arrives at the goal position.

Auto-parking Controller of Omnidirectional Mobile Robot Using Image Localization Sensor and Ultrasonic Sensors (영상위치센서와 초음파센서를 사용한 전 방향 이동로봇의 자동주차 제어기)

  • Yun, Him Chan;Park, Tae Hyoung
    • Journal of Institute of Control, Robotics and Systems
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    • v.21 no.6
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    • pp.571-576
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    • 2015
  • This paper proposes an auto-parking controller for omnidirectional mobile robots. The controller uses the multi-sensor system including ultrasonic sensor and camera. The several ultrasonic sensors of robot detect the distance between robot and each wall of the parking lot. The camera detects the global position of robot by capturing the image of artificial landmarks. To improve the accuracy of position estimation, we applied the extended Kalman filter with adaptive fuzzy controller. Also we developed the fuzzy control system to reduce the settling time of parking. The experimental results are presented to verify the usefulness of the proposed controller.

A Study on the Practicality of Vision Control Scheme used for Robot's Point Placement task in Discontinuous Trajectory (불연속적인 궤적에서 로봇 점 배치작업에 사용된 비젼 제어기법의 실용성에 대한 연구)

  • Son, Jae-Kyeong;Jang, Wan-Shik
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.20 no.4
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    • pp.386-394
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    • 2011
  • This paper is concerned with the application of the vision control scheme for robot's point placement task in discontinuous trajectory caused by obstacle. The proposed vision control scheme consists of four models, which are the robot's kinematic model, vision system model, 6-parameters estimation model, and robot's joint angles estimation model. For this study, the discontinuous trajectory by obstacle is divided into two obstacle regions. Each obstacle region consists of 3 cases, according to the variation of number of cameras that can not acquire the vision data. Then, the effects of number of cameras on the proposed robot's vision control scheme are investigated in each obstacle region. Finally, the practicality of the proposed robot's vision control scheme is demonstrated experimentally by performing the robot's point placement task in discontinuous trajectory by obstacle.

Collision Avoidance of a Mobile Robot Using Intelligent Force Control Algorithm Based on Robot Dynamics (동역학 기반의 지능 힘제어 방식을 이용한 이동 로봇의 장애물 회피에 대한 연구)

  • Jang Eun Soo;Jung Seul
    • Journal of Institute of Control, Robotics and Systems
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    • v.10 no.9
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    • pp.799-808
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    • 2004
  • In this paper, a new collision avoidance algorithm based on the dynamic model of a mobile robot is proposed. In order to avoid obstacles on the path of a mobile robot, intelligent force control is used to regulate accurate distance between a robot and an obstacle. Since uncertainties from robot and environment dynamics degrade the performance of a collision avoidance task, neural network is used to compensate for uncertainties so that the collision avoidance can be performed intelligently. Simulation studies are conducted to confirm the proposed collision avoidance tracking control algorithm.

A Study of Development and Real Time Control of Small Size Robot by Cable Reduction (케이블 감속을 이용한 소형 로봇의 개발과 실시간 제어에 관한 연구)

  • Hong, Jong-Sung;Lee, Jung-Wan
    • Journal of Industrial Technology
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    • v.22 no.B
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    • pp.251-260
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    • 2002
  • In this thesis, a three degrees of freedom robot, which is able to provide sufficient precision for various robot researches, has been developed. The cable mechanism is used as a basic transmission of robot joints. Based on an optimal design strategy, link and joint parameters are determined and then overall geometry of the robot is designed. As an architecture of robot control, real time control system using real time linux and RtiC-Lab(Real Time Controls Laboratory) is developed. This system, written in C and based on Linux O/S, includes text editor, compiler, downloader, and real time plotter running in host computer for developing control purpose. Using these hardware and software, simple PD position control is implemented, the results shows the effectiveness of the system.

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The Compliance Control for Walking Stabilization of a Jointed-Leg Quadrupedal Robot (관절 구동형 4족보행 로봇의 보행 안정화를 위한 컴플라이언스 제어)

  • Lee, Su-Yeong;Hong, Ye-Seon
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.24 no.5 s.176
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    • pp.1155-1165
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    • 2000
  • Due to the irregularity of walking ground and the inaccuracy in trajectory control of a leg, the mechanical shock and slip on the ground can be caused in the landing and supporting legs of a walkin g robot, and the robot may lose walking stability. Especially in a jointed-leg type walking robot, those problems are much more severe than in the pantograph type since the leg-weight of the jointed-leg type walking robot is relatively heavier than that of the pantograph type in general. In order to secure the walking stability for the jointed-leg type quadrupedal robot under development in KIST(Korea Institute of Science and Technology), a balancing algorithm consisting of the leg compliance control and the body posture control is implemented in this paper, and the effectiveness of the algorithm is verified through experiments.