• 제목/요약/키워드: Robot Control

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직접구동형로봇의 가감속시간 단축에 관한 연구 (Analysis to reduce the acceleration time and deceleration time of direct drive robot)

  • 임규영;이광남;고광일
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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    • pp.372-376
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    • 1990
  • This paper represents a control method of improving the performance of direct drive robot. The direct transfer of torque and rotational speed of direct drive motor to the robot body without reduction gear makes the robot speed fast. However, the variation of inertia matrix and low friction cause the control difficult, and one more effort must be in the reducing the acceleration and deceleration time to reduce the cycle time. To fasten the cycle time and to improve the robustness of robot, one control method is developed, and implemented in the Goldstar DD robot. This method does not need to change the conventional PI type control structure, but one additional compensational control law is required. The control law can be obtained via inverse dynamic model of robot, and inverse model of existing control loop. The effects of this control law are shown in this paper.

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대화기능에 의한 모바일로봇의 실시간 주행제어 (Real-Time Travelling Control of Mobile Robot by Conversation Function Based on Voice Command)

  • 심병균;이우송;한성현
    • 한국산업융합학회 논문집
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    • 제16권4호
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    • pp.127-132
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    • 2013
  • We describe a research about remote control of mobile robot based on voice command in this paper. Through real-time remote control and wireless network capabilities of an unmanned remote-control experiments and Home Security / exercise with an unmanned robot, remote control and voice recognition and voice transmission are possible to transmit on a PC using a microphone to control a robot to pinpoint of the source. Speech recognition can be controlled robot by using a remote control. In this research, speech recognition speed and direction of self-driving robot were controlled by a wireless remote control in order to verify the performance of mobile robot with two drives.

이동로봇의 자율주행제어에 관한 연구 (A study on Autonomous Travelling Control of Mobile Robot)

  • 이우송;심현석;하언태;김종수
    • 한국산업융합학회 논문집
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    • 제18권1호
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    • pp.10-17
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    • 2015
  • We describe a research about remote control of mobile robot based on voice command in this paper. Through real-time remote control and wireless network capabilities of an unmanned remote-control experiments and Home Security / exercise with an unmanned robot, remote control and voice recognition and voice transmission are possible to transmit on a PC using a microphone to control a robot to pinpoint of the source. Speech recognition can be controlled robot by using a remote control. In this research, speech recognition speed and direction of self-driving robot were controlled by a wireless remote control in order to verify the performance of mobile robot with two drives.

음성명령에 의한 모바일로봇의 무선통신 실시간 주행제어 (Wireless Communication Real-Time Travelling Control of Mobile Robot by Voice Command)

  • 심병균;한성현
    • 한국기계가공학회지
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    • 제10권6호
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    • pp.33-38
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    • 2011
  • We describe a research about remote control of mobile robot based on voice command in this paper. Through real-time remote control and wireless network capabilities of an unmanned remote-control experiments and Home Security / exercise with an unmanned robot, remote control and voice recognition and voice transmission are possible to transmit on a PC using a microphone to control a robot to pinpoint of the source. Speech recognition can be controlled robot by using a remote control. In this research, speech recognition speed and direction of self-driving robot were controlled by a wireless remote control in order to verify the performance of mobile robot with two drives.

산업용 로봇 매니퓰레이터의 다변수 제어기 설계 (A Design on Multivariable Controller for Industrial Robot Manipulators)

  • 한상완;홍석교
    • 제어로봇시스템학회논문지
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    • 제4권5호
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    • pp.636-643
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    • 1998
  • This paper is presents multivariable control scheme for industrial robot manipulators. The control scheme consists of two loops. The modeling error between linearized robot model and actual robot model is compensated in error compensation loop. The PID control loop is designed for pole assignment to stability of robot system and utilized for trajectory tracking. Alternatively computer simulation results are given for illustration purpose of suggested controller.

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적응 제어 기반 Portable 용접 로봇 시뮬레이터 개발 (Development of a Motion Simulator for Portable Type Welding Robot Based on Adaptive Control)

  • 구남국;하솔;노명일
    • 대한조선학회논문집
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    • 제49권5호
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    • pp.400-409
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    • 2012
  • It is not easy to know the accurate mass and mass moment of inertia of robot. Because of this uncertainty, error may exist when we control the robot based on the inaccurate mass information. Moreover the properties of the portable robot can change during its operation. Therefore we developed the motion simulator based on the adaptive control. First, the computed torque control was carried out in order to minimize an error between target angles and real angles. The computed torque control is based on the equation of robot motion, which is derived from the Lagrange-Euler equation. To minimize the error between the real model and the approximated model, the adaptive control was carried out. During this simulation, the interference check was also carried out. The interference check verifies that the robot can move successfully without any collision.

ANFIS를 이용한 이족보행로봇 제어 (The Control of a Bipedal Robot using ANFIS)

  • 황재필;김은태;박민용
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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    • pp.523-525
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    • 2004
  • Over the last few years, the control of bipedal robot has been considered a promising research field in the community of robotics. But the problems we encounter make the control of a bipedal robot a hard task. The complicated link connection of the bipedal robot makes it impossible to achieve its exact model. In addition, the joint velocity is needed to accomplish good control performance. In this paper a control method using ANFIS as an system approximator is purposed. First a model biped robot of a biped robot with switching leg influence is presented. Unlike classical method, ANFIS approximation error estimator is inserted in the system for tuning the ANFIS. In the entire system, only ANFIS is used to approximate the uncertain system. ANFIS tuning rule is given combining the observation error, control error and ANFIS approximation error. But this needs velocity information which is not available. So a practical method is newly presented. Finally, computer simulation results is presented to show this control method has good position tracking performance and robustness without need for leg switching acknowledgement.

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High-Precision Contour Control by Gaussian Neural Network Controller for Industrial Articulated Robot Arm with Uncertainties

  • Zhang, Tao;Nakamura, Masatoshi
    • Transactions on Control, Automation and Systems Engineering
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    • 제3권4호
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    • pp.272-282
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    • 2001
  • Uncertainties are the main reasons of deterioration of contour control of industrial articulated robot arm. In this paper, a high-precision contour control method was proposed to overcome some main uncertainties, such as torque saturation, system delay dynamics, interference between robot links, friction, and so on. Firstly, each considered factor of uncertainties was introduced briefly. Then proper realizable objective trajectory generation was presented to avoid torque saturation from objective trajectory. According to the model of industrial articulated robot arm, construction of Gaussian neural network controller with considering system delay dynamic, interference between robot links and friction was explained in detail. Finally, through the experiment and simulation, the effectiveness of proposed method was verified. Furthermore, based on the results it was shown that the Gaussian neural network controller can be also adapted for the various kinds of friction and high-speed motion of industrial articulated robot arm.

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바퀴/4 족 동작 전환으로 계단 및 문턱 오르기가 가능한 서비스 하이브리드 이동 로봇 개발 (Development of a Service Hybrid Mobile Robot for Climbing Stairs and Thresholds by Switching Wheel and Leg Gait)

  • 김진백;김병국
    • 제어로봇시스템학회논문지
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    • 제13권11호
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    • pp.1082-1091
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    • 2007
  • In this paper, we developed a new hybrid mobile robot which can climb stairs and go over thresholds by crawl gait with embedded real-time control software. This robot is also categorized into hybrid robot that has advantages of wheeled mobile robot and legged mobile robot, but adopts gait feature of crocodile named belly crawl. We imitated the belly crawl using four legs of 2 DOF, four omni-directional wheels, and embedded control software which controls legs and wheels. This software is developed using RTAI/Linux, real-time drivers. As a result, the new hybrid mobile robot has crawl gait. Using this feature, the new hybrid mobile robot can climb stairs and go over thresholds just by path planning of each leg with size of stairs and thresholds, and computing the movement distance of robot body center without considering stability. The performance of our new hybrid mobile robot is verified via experiments.

Remote Monitoring and Control of the Real Robot associated with a Virtual Robot

  • Jeon, Byung-Joon;Kim, Dong-Hwan
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2005년도 ICCAS
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    • pp.43-48
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    • 2005
  • A robot system encompassing a remote control and monitoring through a virtual robot design is addressed and a tracking problem for a 2D (2 dimension) moving target by a robot vision is chosen as a case study. The virtual robot is developed, and it synchronizes with the real robot by compensating delay time. Two systems are displayed on a remote panel by communicating command and image data. The virtual robot utilizes an OpenGL library in Visual $C^{++}$ environment. Additionally, the remote monitoring and control between the real robot and the virtual robot are accomplished by employing an appropriate data compression in a network communication.

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