• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1153-1157
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• 2004

The report of the Korean National Statistics Office shows that Korea has been emerging as an elderly society rapidly, and it will burden the Korean society with excessive social welfare cost for the aged in the near future. If we can help the aged to live healthy in some ways, the social burden for the health care of the aged will be lessened. In order to help physical and mental health of the elderly person, we have developed an exercise apparatus called intelligent arm wrestling machine system. This paper presents the mechanism and scenario of the proposed intelligent arm wrestling machine system. The proposed mechanism and scenario are peculiar. In particular, the proposed scenario determines randomly who will win between the man and the robot and generates a game process that the arm-wrestler cannot predict in advance.

• 한국정밀공학회지
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• 제25권2호
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• pp.72-79
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• 2008

In the redundant actuation system which has more actuators than a system's mobility, there are various method to determine actuated torques because those are not determined uniquely. This paper presents a torque distribution method using weighted-pseudoinverse to optimize the maximum torque of various actuated inputs of the redundant system. The various weighting factor of weighted-pseudoinverse is studied to reduce maximum actuated torque. This method is experimentally applied to 3RRR parallel robot, which shows that presented method can efficiently reduce the maximum actuated torque.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1149-1154
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• 1991

For a robotic workcell, which consists of multiple robots, several interconnection methods are presented in terms of the processor based architecture. Since few attempts have been made to formulate and analyze multiple robot system(MRS), we turn the knowledge of multiple processor system(MPS) or multiple computer system(MCS) to good account. The performance evaluation is achieved through queueing analysis, the aim being to compare their response time, utilization, probability of service failure under different workload. To verify the validity of the proposed analysis methods, a computer simulation is performed. The results together with comments presented here give some useful guidelines for the selection of an appropriate interconnection method.

• 한국멀티미디어학회논문지
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• 제20권11호
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• pp.1842-1848
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• 2017

Recently, user motion estimation methods using various wearable devices have been actively studied. In this paper, we propose a motion estimation system using Myo, which is one of the wearable devices, using two Myo and their dependency relations. The estimated motion is used as a command for remotely controlling the robot. Myo's Orientation and EMG signals are used for motion estimation. These two type data sets are used complementarily to increase the accuracy of motion estimation. We design and implement the system according to the proposed method and analyze the results through experiments. As a result of comparison with previous studies, the accuracy of motion estimation can be improved by about 12.3%.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 G
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• pp.3045-3047
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• 1999

This paper deals with a single flexible link robot system using two fuzzy logic controllers(FLC). The one is used for controlling the rigid position of the beam while it is rotated from one position to another. The other is adopted to reduce the oscillation caused by the rigid body motion. Many simulations are carried out to investigate characteristics of the controlled system. There are good results compared with other systems using PD controller. And also the system could be exactly controlled by the proper setting conditions for FLC.

• 한국반도체및디스플레이장비학회:학술대회논문집
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• 한국반도체및디스플레이장비학회 2003년도 춘계학술대회 발표 논문집
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• pp.80-87
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• 2003

On this study, an End-Effector for the 300mm wafer transfer robot System is newly suggested. It is a mechanical type with $180^{\circ}$ rotating ranges and is composed of 3-point arms, two plate springs and single-axis DC motor. It is controlled by microchip for the DC motor control. To design, relationships on the gripping force and the wafer deformation is analyzed by FEM analysis. Criterion on gripping force of a suggested End-Effector is confirmed as $255 ~ 274g_f$ from experimental results. From experimented results on repeatable position accuracy, gripping force and gripping cycle times in a wafer cleaning system, we confirmed that the suggested End-Effector is well satisfied on the required performance for 300mm wafer transfer robot system.

• 한국정밀공학회지
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• 제13권8호
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• pp.175-183
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• 1996

This paper presents three-dimensional robot task using the vision control method. A minimum of two cameras is required to place points on end dffectors of n degree-of-freedom manipulators relative to other bodies. This is accomplished using a sequential estimation scheme that permits placement of these points in each of the two-dimensional image planes of monitoring cameras. Estimation model is developed based on a model that generalizes known three-axis manipulator kinematics to accommodate unknown relative camera position and orientation, etc. This model uses six uncertainty-of-view parameters estimated by the iteration method.

• Journal of Advanced Marine Engineering and Technology
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• 제18권4호
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• pp.102-111
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• 1994

This article deals with the problem of designing a robust algorithm for the motion control of robot manipulator whose nonlinear dynamics contain various uncertainties. To ensure high performance of control system, a model-based feedforward compensation with continuous robust control has been developed. The control structure based on the deterministic approach consists of two parts : the nominal control law is first introduced to stabilize the system without uncertainties, then a robust nonlinear control law is adopted to compensate for both the resulting errors(or structured uncertainties) and unstructured uncertainties. The uncertainties assumed in this study are bounded by polynomials in the Euclidean norms of system states with known bounding coefficients. The presented control scheme is relatively simple as well as computationally efficient. With a feasible class of desired trajectories, the proposed control law provides sufficient criteria which guarantee that all possible responses of the closed-loop system are uniformly ultimately bounded in the presence of uncertainties. Therefore, the control algorithm proposed is shown to be robust with respect to the involved uncertainties.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 추계학술대회 논문집
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• pp.984-988
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• 2005

To accomplish various and complex tasks by intelligent robots, improvement is needed not only in mechanical system architecture but also in control system architecture. Hybrid control architecture has been suggested as a mutually complementing architecture of the weak points of a deliberative and a reactive control. This paper addresses a control architecture of robots, and a behavior representation methodology. The suggested control architecture consists of three layers of deliberative, sequencing, and reactive as hybrid control architecture. Multi-layer behavior model is employed to represent desired tasks. 3D simulation will be conducted to verify the applicability of suggested control architecture and behavior representation method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.24.1-24
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• 2001

This paper present the idea that the inner loop regulator inside the servo can be enhanced its performance by replace the conventional control with a fuzzy proportional derivative control. In this paper, we replace an inner loop regulator of a Futaba servomotor with a fuzzy PD control paradigm. We then test the proposed system and compare the result with the original scheme. The fuzzy control used here is based on the supervisory scheme of the conventional PD yet embedded a fuzzy decision for the final control action. The proposed control scheme for the servomotor has shown robustness and effective performance in handle input disturbance along with its tracking ability. Moreover, when we embedded the new implemented on a real six-legged insect robot designed by the authors, we found that the control system for this application under the ...