• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10a
• /
• pp.20-25
• /
• 1993

The control of the motion of a mobile robot is studied. The driving and steering motor assembly is located in the front of the mobile robot. The position of the mobile robot is determined by the steering angle and driving distance. For the controller design, a time-series multivariate model of the autogressive exogenous (ARX) type is used to describe the input-output relation. The discounted least square method is used to estimate parameters of the time-series model. A self-tuning controller is so designed that the position of the center of the mobile robot track the given trajectory. Simulation result controlled by a self-tuning controller is presented to illustrate the approach.

• 제어로봇시스템학회:학술대회논문집
• /
• 1987.10b
• /
• pp.10-13
• /
• 1987

The main work of this paper are the manufacture of six degree of freedom industrial robot control hardware of 16 bit CPU and the development of five motion control software. The work would draw on KIT of Robotics Laboratory whose extensive experience in these areas; in particular the 68000 assembler and Modula-2 languages, and existing robot control systems. We found that this controller is good for the robot controller of PID types. But, for the use of self-tuning algorithms and real time calculations we need 32 bit CPU robot controller such as MC 68020 microprocessor.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1996.11a
• /
• pp.754-758
• /
• 1996

This paper presents a new approach to the design of self-tuning adaptive control system that is robust to the changing dynamic configuration as well as to the load variation factors using Digital signal processors for robot manipulators. TMS320C50 is used in implementing real-time adaptive control algorithms to provide advanced performance for robot manipulator, In this paper, an adaptive control scheme is proposed in order to design the pole-placement self-tuning controller which can reject the offset due to any load disturbance without a detailed description of robot dynamics. Parameters of discrete-time difference model are estimated by the recursive least-square identification algorithm, and controller parameters we determined by the pole-placement method. Performance of self-tuning adaptive controller is illusrated by the simulation and experiment for a SCARA robot.

• Journal of the Institute of Convergence Signal Processing
• /
• v.6 no.4
• /
• pp.191-197
• /
• 2005

Biped walking is the main feature of a humanoid robot. In a biped walking robot, there are many actuators to be controlled and many sensors to be interfaced. In this paper, we propose a DSP-based controller for a miniature biped walking robot with 21 RC servo motors. The proposed controller has a hierarchical structure; a host PC, a DSP-based main controller, and an auxiliary controller with an FPGA chip. The host PC generates and transmits the robot walking data for given walking parameters such as stride, walking period, etc. The main controller implemented with a TMS320LF2407A controls 21 RC servo motors via the auxiliary controller. We also perform some experiments for balancing motion and walking on a slope terrain with interfacing a 2-axis acceleration sensor and a TMS320LF2407A.

• Proceedings of the KIEE Conference
• /
• 2006.10c
• /
• pp.548-550
• /
• 2006

This paper deals with the implementation of a small humanoid robot controller on the basis of Real Time Operating System(RTOS) and the FPGA. This controller was adapted to the humanoid robot with 25 DOFs, which are 12 DOFs in each leg, 8 DOFs in each arm, 3 DOFs in waist, and 2 DOFs in head. The robot actuators were used DX-117 servo motors that have all of the controller components in one module in order to simplify the control structure. In addition, the main controller is FPGA of Virtex4-FX from Xilinx, and ported on VxWorks that is kind of RTOS. It is essential to install this RTOS on the complex control system and to do control activity at the multitasking environments. This paper suggested the method of distributing the computational load in the humanoid robot controller using the FPGA and RTOS concepts. All of the control process was verified through the real action of the humanoid.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.49 no.8
• /
• pp.473-480
• /
• 2000

A fuzzy PID controller is proposed for the posture control of a two DOF robot vehicle inspecting the defects of the inner wall of sewage pipes. The main difficulty in controlling these kinds of vehicles lies in that the center of two mobile shafts does not coincide with the weight center of the vehicle due to its long and wide shape. In this case the previous controller, based on the assumption that the gap between these centers are small, can not guarantee satisfactory transient response characteristics. In this paper, this gap is included in the mathematical modelling of the robot kinematics, and in order to compensate the unsatisfactory transient response characteristics, the fuzzy PID controller is proposed. This controller tunes the PID control gains with respect to the current state of the errors between the reference and the current postures. A series of simulations has been performed to investigate the tracking performance of the proposed controller for the lane changing path and the robustness to the external disturbance. The simulation results show that the proposed controller has a satisfactory tracking performance in the transient state as compared with that of the backstepping control given in reference.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.16 no.3
• /
• pp.216-223
• /
• 2016

This paper proposes a new controller design method for a fork-type lifter (FTL) of a transportation mobile robot. The transportation robot needs to pick up a package from a stack on a storage shelf and move on by a planned path in a logistics center environment. The position of the storage shelf is recognized by reading a QR code on the floor, and using this position, the robot can move to reach the storage shelf and pick up the package. PID controllers and an adaptive controller are designed to control the velocity of two wheels and the position of the FTL. An adaptive controller for the lifter is designed to elevate up and down on a slideway to the correct height position of the package on the stack of the storage shelf. The simulation results show that the PID controllers can respond smoothly to the desired angular velocity and the adaptive controller can adapt quickly and correctly to the desired height.

• Journal of the Korean Society for Precision Engineering
• /
• v.16 no.1 s.94
• /
• pp.200-209
• /
• 1999

This paper presents a precise tracking control scheme for the proposed parallel robot using artificial neural network. This control scheme is composed of three feedback controllers and one feedforward controller. Conventional PD controller and artificial neural network are used as feedback and feedforward controller respectively. A backpropagation learning strategy is applied to the training of artificial neural network, and PD controller outputs are used as target outputs. The PD controllers are designed at the robot dynamics based on inter-relationship between active joints and moving platform. Feedback controllers insure the total stability of system, and feedforward controller generates the control signal for trajectory tracking. The precise tracking performance of proposed control scheme is proved by computer simulation.

• Journal of Mechanical Science and Technology
• /
• v.17 no.11
• /
• pp.1682-1692
• /
• 2003

This paper proposes an adaptive controller for partially known system and applies to a two-wheeled Welding Mobile Robot (WMR) to track a reference welding path at a constant velocity of the welding point. To design the tracking controller, the errors from WMR to steel wall is defined, and the controller is designed to drive the errors to zero as fast as desired. Additionally, a scheme of error measurement is implemented on the WMR to meet the need of the controller. In this paper, the system moments of inertia are considered to be partially unknown parameters which are estimated using update laws in adaptive control scheme. The simulations and experiments on a welding mobile robot show the effectiveness of the proposed controller.

• Journal of the Korean Society for Precision Engineering
• /
• v.23 no.12 s.189
• /
• pp.46-55
• /
• 2006

A robust motion controller based on self-organizing fuzzy control(SOFC) and feed-back tracking control technique is proposed for a two-wheel driven mobile robot. The feed-back control technique of the controller guarantees the robot follows a desired trajectory. The SOFC technique of the controller deals with unmodelled dynamics of the vehicle and uncertainties. The computer simulations are carried out to verify the tracking ability of the proposed controller with various driving situations. The results of the simulations reveal the effectiveness and stability of the proposed controller to compensate the unmodelled dynamics and uncertainties.