• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1489-1492
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• 1997

To increase reliability and performance of an IMS(Intelligent Manufacturing System), fault tolerant control based on an accurate fault diagnosis is needed. In this paper, robot FDI(fault detection and identification) is proposed for IMS where the robot is controlled with state estimates of a nonlinear filter using a mathematical robot model. The Chi-square distribution is applied fault detection and fault size is estimated by a proposed bias filter. Performance of the proposed algorithm is tested by simulation for studies.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.1053-1061
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• 2008

In this paper, a moving target tracking using a binocular vision for an omni-directional mobile robot is addressed. In the binocular vision, three dimensional information on the target is extracted by vision processes including calibration, image correspondence, and 3D reconstruction. The robot controller is constituted with SPI(serial peripheral interface) to communicate effectively between robot master controller and wheel controllers.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1997.10a
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• pp.48-53
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• 1997

The objective of this paper is to present the development and application of interface software between robot and F/T sensor for force control. The interface software for among the robot controller, F/T sensor, and host PC is based on interrupt-driven method. To show the suitability of developed interface software, writing-task is performed in real time using F/T sensor that mounts on the wrist of the robot and Scara type 4-axis robot.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.92.1-92
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• 2002

$\textbullet$ A compact and robust wall-climbing robot, called MRWALLSPECT-II, is developed. $\textbullet$ The robot is a self-contained system for scanning external surfaces of gas or oil tank. $\textbullet$ The robot has advantages of reduced actuators, parts and easy control. $\textbullet$ The mechanism of the robot employs a closed link mechanism. $\textbullet$ Self-Contained, Wall-Climbing, MRWALLSPECT

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.149-153
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• 1989

This paper investigates the possibility of applying fuzzy algorithms to the collision avoidance problem of a cylindrical robot moving in a 3-dimensional workspace. The displacement information from the end-effector to the points via which the robot can avoid collisions is given by the human operator. Then this uncertain information is adopted for the fuzzy inference system for robot movements. The robot movement is simulated to verify the effectiveness of the proposed fuzzy algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.111.3-111
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• 2001

Automative system and robot are operated by motor. Recently, automative system and robot need correct operation and control for precise task. Therefore they need precise motor control technology. In present, controller needs precise motor control technology in automative system and robot. Usual step motor driver that has 200 steps per revolution is not proper. So we need micro step motor driver that is more precise then usual step motor driver. In this paper, micro step motor driver is used for precise control of step motor. The goal is precise operation and location control. This micro step motor driver is A3972SB that is made in Alloegro Company. It has serial port that receives two 6-bits linear DAC value. Almost all systems generate DAC value with micro processer and ...

• Journal of Advanced Marine Engineering and Technology
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• v.21 no.4
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• pp.404-413
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• 1997

Direct-drive robots are suitable to position and force control with high accuracy, but it is difficult to design a controller which gives satisfactory perfonnance because of the system's nonlinearity and link-interactions. This paper is concerned with the force control of direct-drive robots. The pro¬posed algorithm consists of feedback controllers and a neural network. Mter the completion of learning, the outputs of feedback controllers are nearly equal to zero, and the neural network con¬troller plays an important role in the control system. Therefore, the optimum adjustment of parameters of feedback controllers is unnecessary. In other words, the proposed algorithm does not need any knowledge of the controlled system in advance. The effectiveness of the proposed algo¬rithm is demonstrated by the experiment on the force control of a parallelogram link-type direct¬drive robot.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.2
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• pp.120-125
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• 2010

This paper proposes an intelligent PID/Fuzzy control system for two humanoid robots to transport objects stably. When a robot transports an object while walking, a whole body system of a robot may not be stable due to vibration or external factors from a different departure speed error and a body movement of walking robots. Therefore, it is necessary to measure the horizontal and vertical locations and speeds of object, then calibrate the difference of departure speed between robots with PID/Fuzzy control. The results of simulation with two robots indicated that a proposed controller makes robots to transport an object stably.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.1
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• pp.10-14
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• 2004

We present a predictive control algorithm combined with the robust robot control that is constructed on the Lyapunov min-max approach. Since the control design of a real manipulator system may often be made on the basis of the imperfect knowledge about the model, it is an important trend to design a robust control law that guarantees the desired properties of the manipulator under uncertain elements. In the preceding robust control work, we need to tune several control parameters in the admissible set where the desired stability can be achieved. By introducing an optimal predictive control technique in robust control we can find out much more deterministic controller for both the stability and the performance of manipulators. A new class of robust control combined with an optimal predictive control is constructed. We apply it to a simple type of 2-link robot manipulator and show that a desired performance can be achieved through the computer simulation.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.10
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• pp.123-129
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• 1996

Computed torque method has been used for precise trajectory control of the robotic system that involves nonlinear dynamics. It is hard to know exact values of robot system parameters, and the robot arm receives umpredictable interference from the working environment. These disturbances, especially in a direct drive robot, are directly transmitted to actuating motor without reduction. Modelling error and distrubance can cause significant errors in a trajectory tracking problem. In this paper, we propose a new controller that $H_{\infty}$controller is conbined to robot system linearized by computed torque. Simula- tions are made for comparing the performance of the proposed controller with that of a nonlinear $H_{\infty}$ controller proposed by Chen and also computed torque method.hod.