• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.734-738
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• 1996

An adaptive output feedback controller is designed for tracking control of an n-link robot manipulator with unknown load. High-gain observers with same structure as error dynamic systems are used to estimate joint velocities. The parameter adaptation is achieved by the smoothed projection algorithm. The control inputs are saturated outside a domain of interest. Simulation results on a 2-link manipulator illustrate that when the speed of the high-gain observer is sufficiently high, the proposed controller recovers the performance under state feedback control.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.359-362
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• 1996

Our unicycle robot has simple mechanical structure. But unicycle's dynamical system is a very sensitive unstable system. Equation of motion of this simple unicycle robot was derived using Lagrange's method. In this paper a human inference control mechanism was established throughout an inquiry into hyman riding a unicycle, and we developed a hybrid controller to control our unicycle robot. Our controller is consisted with the PD and fuzzy controller containing fuzzy gain scheduling technique. Computer simulation shows good results.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.177-182
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• 1989

In this paper a new adaptive control algorithm is derived, with the unknown manipulator and payload parameters being estimated online. In practice, we may simplify the algorithm by not explicity estimating all unknown parameters. Further, the controller must be robust to residual time-varying disturbance, such as striction or torque ripple. Also, the reference model is a simple douple integrator and the acceleration input for robot manipulator consists of a proportion and derivative controller for trajectory tracking purposes. The validity of this control is confirmed in simulation where two-link robot manipulator shows the robust performances in spite of the existing nonlinear interaction and unknown parametrictings

• Proceedings of the IEEK Conference
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• 1999.11a
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• pp.716-719
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• 1999

In this paper, a real-time control system for robot manipulator is implemented using real-time operating system with capabilities of multitasking, intertask communication and synchronization, event-driven, priority-driven scheduling, real-time clock control, etc. The hardware system with VME bus and related devices is developed and applied to implement a dynamic learning control scheme for robot manipulator. Real-time performance of the proposed dynamic learning controller is tested for tasks of tracking moving objects and compared with the conventional servo controller.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.75-78
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• 1987

This paper presents a control algorithm of servo controller for a quadruped walking robot as well as its characteristics and requirements. The control algorithm for propelling and terrain adaptive motion is described. The servo controller is being developed as a sub-project of the national project - "Development of a quadruped walking robot ". And then, this paper focuses on an overview of the current state and future works of this sub-project.b-project.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.74-74
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• 2000

This paper presents a neural network controller for a rigid-link electrically-driven robot. The proposed controller is designed in conjunction with three neural networks approximating for complicated nonlinear functions. Particularly, the fact, different from conventional schemes, is that the neural network based current observer is used. Therefore, no accurate measurement of the actuator driving current is required. In the proposed controller-observer scheme, the derived weight update rule guarantees the stability of closed-loop system in the sense of Lyapunov. The effectiveness and performance of the proposed method are demonstrated through computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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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.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.425-429
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• 1996

Our unicycle has simple mechanical structure. But unicycle's dynamic system is a very sensitive unstable nonlinear system. In this paper, a fuzzy inference control mechanism was established throughout an inquiry into human riding a unicycle, and we developed a direct fuzzy controller to control our unicycle robot. This proposed fuzzy controller is consisted with fuzzy logic controllers for attitude stability and wheel's velocity. Computer simulation results show that our fuzzy controller has very powerful performance to unstable nonlinear unicycle robot system.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.741-746
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• 2004

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

• 전자공학회논문지 IE
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• v.46 no.4
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• pp.73-77
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• 2009

This paper presents the trajectory tracking control for mobile robot. The designed controller consists of kinematic and dynamic controller. Kinematic controller has two gains and it reduces the trial time for gain setting as compared convectional controller with three gains. Dynamic controller includes the compensation of friction and disturbance. It can improve the performance of the trajectory tracking under the various environment. Simulation results shows that the proposed controller has a stable performance.