• 제어로봇시스템학회논문지
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• 제14권8호
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• pp.779-784
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• 2008

This paper presents Kalman filter based system modeling algorithm for autonomous robot systems. State of the robot system is measured using embedded sensor systems and then carried to a host computer via ubiquitous sensor network (USN). We settle a linear state-space motion equation for unknown robot system dynamics and modify a popular Kalman filter algorithm in deriving suitable parameter estimation mechanism. To represent time-delay nature due to network media in system modeling, we construct an augmented state-space model which is mainly composed of original state and estimated parameter vectors. We conduct real-time experiment to test our proposed estimation algorithm where speed state of the constructed robot is used as system observation.

• 제어로봇시스템학회논문지
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• 제11권6호
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• pp.524-529
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• 2005

In this paper, a novel neural network compensation technique for PD like fuzzy controlled robot manipulators is presented. A standard PD-like fuzzy controller is designed and used as a main controller for controlling robot manipulators. A neural network controller is added to the reference trajectories to modify input error space so that the system is robust to any change in system parameter variations. It forms a neural-fuzzy control structure and used to compensate for nonlinear effects. The ultimate goal is same as that of the neuro-fuzzy control structure, but this proposed technique modifies the input error not the fuzzy rules. The proposed scheme is tested to control the position of the 3 degrees-of-freedom rotary robot manipulator. Performances are compared with that of other neural network control structure known as the feedback error learning structure that compensates at the control input level.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.509-512
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• 2002

We propose a control method for mobile robot system using the bluetooth. The control packet is defined and used for control of the mobile robot. The control packet is composed of behavior components and has reserved packets for future working. The control packet has to be simple and provide commands to the mobile robot, since the bluetooth has a limited bandwidth. The data transmission rate and the distance, which can control the mobile robot in various circumstances, for example, corridor, yard, and room are measured by some experiments.

• 제어로봇시스템학회논문지
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• 제11권4호
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• pp.330-336
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• 2005

An intelligent control method is proposed for control of rigid robot manipulators which achieves exponential tracking of repetitive robot trajectory under uncertain operating conditions such as parameter uncertainty and unknown deterministic disturbance. In the learning controller, exponentially stable learning algorithms are combined with stabilizing computed error feedforward and feedback inputs. It is shown that all the error signals in the learning system are bounded and the repetitive robot motion converges to the desired one exponentially fast with guaranteed convergence rate. An engineering workstation based control system is built to verify the effectiveness of the proposed control scheme.

• Journal of Electrical Engineering and Technology
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• 제11권4호
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• pp.1012-1019
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• 2016

A robust control intended for a nonholonomic mobile robot is considered to guarantee good tracking a desired trajectory. The main drawbacks of the mobile robot model are the existence of nonholonomic constraints, uncertain system parameters and un-modeled dynamics. in order to overcome these drawbacks, we propose a robust control based on Lyapunov theory associated with sliding-mode control, this solution shows good robustness with respect to parameter variations, measurement errors, noise and guarantees position and velocity tracking. The global asymptotic stability of the overall system is proven theoretically. The simulation results largely confirm the effectiveness of the proposed control.

• 로봇학회논문지
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• 제4권1호
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• pp.74-80
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• 2009

This paper presents a remote monitoring and simulation system for a building cleaning mobile robot. It provides a tool of convenient 3D graphical map construction including network camera image viewer and status information of the robot. The 3D map is reconstructed from existing 2D building CAD data with DXF format using OpenGL graphic API. Through this system, it is possible to monitor and control the cleaning mobile robot from remote place. A practical experiment is performed to show the reliability and convenience of the monitoring system. The proposed system is expected to give efficient way of control and monitoring to building cleaning mobile robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.354-359
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• 2003

In this paper, we consider the problem of designing a simple learning variable structure system for repeatable tracking control of robot manipulators. We combine a variable structure control law as the robust part for stabilization and a feedforward learning law as the intelligent part for nonlinearity compensation. We show that the tracking error asymptotically converges to zero. Finally, we give computer simulation results in order to show the effectiveness of our method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.642-646
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• 1992

Trajectory tracking control problems are described for a two-link robot manipulator with artificial rubber muscle actuators. Under the assumption that the so-called independent joint control is applied to the control system, the dynamic model for each link is identified as a linear second-order system with time-lag by the step response. Two control laws such as the feedforward and the computed torque control methods, are experimentally applied for controlling the circular trajectory of an actual robot manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.420-420
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• 2000

In this paper, we propose an adaptive controller using RBFN(radial basis function network) for robot manipulators The structure of the proposed controller consists of a RBFN and VSC-1 ike control. RBFN is used in order to approximate かon system, and VSC-like control to guarantee robustness On the basis of the Lyapunov stability theorem, we guarantee the stability for the total system. And the learning law of RBFN is established by the Lyapunov method, Finally, we apply the proposed controller to tracking control for a 2 link SCARA type robot manipulator.

• 대한임베디드공학회논문지
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• 제14권5호
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• pp.259-267
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• 2019

This paper proposes a structure of a variable impedance control system based on sensor-less external force estimator of industrial manipulators for cyber physical production systems (CPPS). To implement CPPS, a feedback system is constructed by using the robot operating system (ROS) and an external force estimator which is designed to measure the external force applied to the manipulator without a force sensor. Based on the robot dynamics, the robot-human cooperating system for the cyber physics production system is implemented through a controller that changes the impedance characteristics of the manipulator according to the situation using the external force estimator. Simulation and experimental results verify the effectiveness of the proposed control system.