• 동력기계공학회지
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• 제19권3호
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• pp.75-80
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• 2015

Typically, robot system configured by articulated robot manipulator with 1 DOF transfer unit is being applied in automotive manufacturing automation process. Especially, 1 DOF transfer unit is necessary to extend workspace of robot manipulator. In this configuration, because transfer unit works only one direction, robot manipulator only works in one side in case of car body painting or sealing automation process. it is necessary three robot manipulator system at least. In this paper, in order to robot manipulator works effectively in car body sealing automation application, we are suggested omni-directional manipulator system and conducted studying on redundancy resolution method to solve manipulability-optimal problem.

• 한국정밀공학회지
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• 제16권1호통권94호
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• pp.211-218
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• 1999

The traditional robot manipulators are actuated by continuous range of motion actuators such as motors or hydraulic cylinders. However, there are many applications of mechanisms and robotic manipulators where only a finite number of locations need to be reached, and the robot’s trajectory is not important as long as it is bounded. Binary manipulator uses actuators which have only two stable states. As a result, binary manipulators have a finite number of states. The number of states of a binary manipulator grows exponentially with the number of actuators. This kind of robot manipulator has some advantage compared to a traditional one. Feedback control is not required, task repeatability can be very high, and finite state actuators are generally inexpensive. And this kind of robot manipulator has a fault tolerant mechanism because of kinematic redundancy. In this paper, we solve the inverse kinematic problem of a binary parallel robot manipulator using neural network and test the validity of this structure using some arbitrary points m the workspace of the robot manipulator. As a result, we can show that the neural network can find the nearest feasible points and corresponding binary states of the joints of the robot manipulator

• 한국정밀공학회지
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• 제16권4호통권97호
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• pp.205-212
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• 1999

A three dimensional binary parallel robot manipulator uses actuators which have only two stable states and its structure is variable geometry truss. As a result, it has a finite number of states and fault tolerant mechanism because of kinematic redundancy. This kind of robot manipulator has some advantages compared to a traditional one. Feedback control is not required, task repeatability can be very high, and finite state actuators are generally inexpensive. Because the number of states of a binary robot manipulator grows exponentially with the number of actuators it is very difficult to solve and inverse kinematic problem. The goal of this paper is to develop an efficient algorithm to solve an inverse kinematic problem of three dimensional binary parallel robot manipulator using a backbone curve when the number of actuators are too much. We first derive the coordinate transformations associated with a three degree of freedom in-parallel actuated robot manipulator. The backbone curve is generated optimally by considering the maximum roll and pitch angles of the robot manipulator configuration and length of link. Then, the robot manipulator is fitted along the backbone curve with some criterion.

• Journal of information and communication convergence engineering
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• 제3권1호
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• pp.33-37
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• 2005

One of the most important feature of the Mobile Manipulator is redundant freedom. Using the redundant freedom, Mobile Manipulator can move various mode, perform dexterous motion. In this paper, to improve robot job ability, as two robots perform a job in co-operation control, we studied optimal position and posture of Mobile Manipulator with minimum movement of each robot joint. Kinematics of mobile robot and task robot is solved. Using mobility of Mobile robot, weight vector of robots is determined. Using Gradient methode, global motion trajectory is minimized. so the job which Mobile Manipulator perform is optimized. The proposed algorithm is verified with PURL-II which is Mobile Manipulator combined Mobile robot and task robot. and discussed the result.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1577-1580
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• 1997

A hybrid control method based on using the relative motion between a manipulator and a workpiece is described for a two-dimensional manipulator, in which it is assumed that there are no collisions between the robot manipulator and the workpiece, and that we use a computed force law which is similar to the computed torque law in the trajectory tracking problem of a robot manipulator. The effectiveness of the proposed hybrid control emthod is illustratec by some simulations.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.435-438
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• 2002

In this paper, a robust controller is proposed to control a robot manipulator which is governed by highly nonlinear dynamic equations. The controller is computationally efficient since it does not require the dynamic model or parameter values of a robot manipulator. It, however, requires uncertainty bounds which are derived by using properties of serial link robot dynamics. The stability of the robot with the controller is proved by Lyapunov theory. The results of computer simulations show that the robot system is stable, and has excellent trajectory tracking performance.

• Journal of Mechanical Science and Technology
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• 제14권6호
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• pp.605-621
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• 2000

A mobile manipulator-a serial connection of a mobile platform and a task robot-is redundant by itself. Using its redundant freedom, a mobile manipulator can move in various modes, i. e., can perform dexterous tasks. In this paper, to improve task execution efficiency utilizing redundancy, optimal configurations of the mobile manipulator are maintained while it is moving to a new task point. Assuming that a task robot can perform the new task by itself, a desired configuration for the task robot can be pre-determined. Therefore, a cost function for optimality can be defined as a combination of the square errors of the desired and actual configurations of the mobile platform and of the task robot. In the combination of the two square errors, a newly defined mobility of a mobile platform is utilized as a weighting index. With the aid of the gradient method, the cost function is minimized, so the tasle that the mobile manipulator performs is optimized. The proposed algorithm is experimentally verified and discussed with a mobile manipulator, PURL-II.

• 한국정밀공학회지
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• 제15권12호
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• pp.162-168
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• 1998

The traditional robot manipulators are actuated by continuous range of motion actuators such as motors or hydraulic cylinders. However, there are many applications of mechanisms and robotic manipulators where only a finite number of locations need to be reached, and the robot's trajectory is not important as long as it is bounded. Binary manipulator uses actuators which have only two stable states. As a result, binary manipulators have a finite number of states. The number of states of a binary manipulator grows exponentially with the number of actuators. This kind of robot manipulator has some advantage compared to a traditional one. Feedback control is not required, task repeatability can be very high, and finite state actuators are generally inexpensive. And this kind of robot manipulator has a fault tolerant mechanism because of kinematic redundancy. This paper develops algorithms for kinematics and workspace analysis of a binary manipulator.

• 한국컴퓨터정보학회논문지
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• 제13권3호
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• pp.153-160
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• 2008

이동매니퓰레이터의 중요한 특징은 잉여의 자유도가 부과되므로 여러 모드의 이동을 가능하게 하고 다양한 작업을 수행할 수 있다. 본 논문에서는 이동로봇과 작업로봇이 결합된 형태를 이동매니퓰레이터라 정의하고 두 로봇이 협동하여 연속적인 하나의 작업을 수행할 때 최적의 자세를 유지할 수 있도록 한다. 이를 위하여 이동 로봇과 작업로봇의 기구학을 해석하고 이를 바탕으로 이동로봇의 Mobility를 이용하여 이동로봇의 가중치를 조정하였다. 또한 이동매니퓰레이터의 최적의 위치와 자세를 조인트 변위량의 최소화 충분조건으로 정의할 때 움직임을 최소화시키는 방법으로 Gradient Method를 이용하여 작업의 최적화 기준을 검토하였다. 이동로봇과 결합된 매니퓰레이터는 PURL-II를 이용하여 제시한 알고리즘 실현과 결과가 논의된다.

• 제어로봇시스템학회논문지
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• 제10권4호
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• pp.312-316
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• 2004

In this paper, it is presented an adaptive robust control system to implement real-time control of a robot manipulator. There are Quantitative or qualitative differences between a real robot manipulator and a robot modeling. In order to compensate these differences, uncertain factors are added to a robot modeling. The uncertain factors come from imperfect knowledge of system parameters, payload change, friction, external disturbance, etc. Also, uncertainty is often nonlinear and time-varying. In the proceeding work, we proposed a class of robust control of a robot manipulator and provided the stability analysis. In the work, we propose a class of adaptive robust control of robot manipulator with bound estimation. Through experiments, the proposed adaptive robust control scheme is proved to be an efficient control technique for real-time control of a robot system using DSP.