• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.2
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• pp.190-196
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• 2014

In this paper, we get state equations based on wheel's rotation, tilt and steering are independent each other in balancing robot. Accordingly, we propose two LQR controllers which are appropriate for rotation and steering control of a balancing robot. And its superiority and appropriateness are demonstrated by a comparison to a PID method. Simulation results verify the possibility of upright balancing, rectilinear motion and position control. Moreover, experimental results show that it guarantees the performance to apply the two LQR controllers to balance the robot.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.129.5-129
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• 2001

When a robot manipulator performs some task like grinding or assembling, not only the position control but also the force control of the tools connected to the robot must be controlled. But at this time We were received the uncertainty problems of system information for the force control, for example disturbance, senor resolution and measurement noise. Therefore we proposed fuzzy logic control method instead of existing control theory for the robot manipulator control, for example PID control method. In this paper, We proposed hybrid position/force control of robot manipulator using fuzzy logic control method. To show the validity of the proposed fuzzy controller, We compared fuzzy controller with conventional PID controller.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.9
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• pp.834-838
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• 2013

This paper proposes a new ball robot which has a four axis structure and four motors that directly actuate the ball to move or to maintain the balance of the robot. For the Balancing control, it is possible to use non-model-based controller to control simply without complex formula. All the gains of the controller are heuristically adjusted during the experiments. The tilt angle is measured by IMU sensors, which is used to generate the control input of the roll and pitch controller to make the tilt angle zero. The performance of the designed control system has been verified through the real experiments with the developed ball robot.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1996.10a
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• pp.150-155
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• 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. TMS3200C50 is used in implementing real-time adaptive control algorithms 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 are detemined by the pole-placement method. Performance of self-tuning adaptive controller is illusrated by the simulation and experiment for a SCARA robot.

• IEMEK Journal of Embedded Systems and Applications
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• v.4 no.2
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• pp.69-78
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• 2009

Localization is a very important technique for the mobile robot to navigate in outdoor environment. In this paper, the development of the sensor fusion algorithm for controlling mobile robots in outdoor environments is presented. The multi-sensorial dead-reckoning subsystem is established based on the optimal filtering by first fusing a heading angle reading data from a magnetic compass, a rate-gyro, and two encoders mounted on the robot wheels, thereby computing the dead-reckoned location. These data and the position data provided by a global sensing system are fused together by means of an extended Kalman filter. The proposed algorithm is proved by simulation studies of controlling a mobile robot controlled by a backstepping controller and a cascaded controller. Performances of each controller are compared.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.387-392
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• 1992

This paper presents a local trajectory generation method which is based on a sequence of reference posture-velocities and the efficient low level control algorithm which constructs the complete smooth curve from the trajectory specification. The reference trajectory generator(RTG) which is in between the local path planner(LPP) and the robot motion controller(RMC) generates a sequence of set-points for each path segments from the LPP and pass it to the RMC. The RMC controls the motions of vehicle which should follow the sequence. In the feedback controller of VMC, the method which compensates robot posture-velocity error correctly is used. These methods are implemented on indoor autonomous vehicle, 'ALIVE' mobile robot. The ALIVE mobile robot system is implemented on the 32bit VME bus system: the two VME CPU's are used for RTG and RMC, while the 80C196KC-based VME board is used for motor controller.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.285-286
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• 2007

This paper presents a robust controller in order to handle the guide rail vibrations of Bridge Inspection System. While a Bridge Inspection Robot moves on guide rails with vibration by weight occurs. Therefore, Guide rail as structure like cantilever beam appears vibration by weight of Bridge Inspection Robot. The Z axis of Bridge Inspection Robot operates with Scissors structure. Bridge Inspection Robot is used 'PID Controller based on Sliding Mode control' for position control with Z axis. At the result of, this paper is applied to simulation about position control regarding vibration to occur with Z axis.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2756-2759
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• 2000

In this paper. A PID motion controller based on the fuzzy concept is discussed for nonholonomic mobile robot. The difficulties in controlling such a Mobile robot vehicle lies in the fact that it usually has only two degrees of freedom for motion control in a tracking mode. It makes the control of speed and steering possible to decompose the error between the reference posture and the current posture. The Gyro compass is used to measure the position of robot. The proposed nonholonomic mobile robot is shown to follow the reference trajectory and compensate the dynamics. Simulation results are provided to validate the proposed controller. Experiments have been used to verify the effectiveness and robustness of the motion controller.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.10a
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• pp.235-240
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• 2002

This paper presents a new approach to the design of cruise control system of a mobile robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy neural network, and back propagation algorithm to train the fuzzy neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.55 no.2
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• pp.83-88
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• 2006

This paper proposes a method that minimizes the consumed energy by searching the optimal locations of the mass centers of the biped robot's links using Genetic Algorithm. This paper presents a learning controller for repetitive gait control of the biped robot. The learning control scheme consists of a feedforward learning nile and linear feedback control input for stabilization of learning system. The feasibility of learning control to the biped robotic motion is shown via computer simulation and experimental results with 24 DOF biped walking robot.