• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.168-171
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• 1993

In this paper, we design a time optimal controller of a dual arm robot to handle the object. Differently from the master-slave type robot, same priority is imposed on the both of the arms for effective handling the specifed object. For finding a time optimal collision-free trajectory, a graphical method is applied for the robot with two degree of freedom. Some simulation results show the effectiveness of the proposed method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1078-1081
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• 2004

A robot manipulator is usually operated in two modes: free motion and constraint motion depending on whether the robot comes into contact with the environment or not. At the moment of contact, impact occurs, and sometimes, it possibly degrade the robot's performance by vibration and at worst, shortens its lifetime. In this article, a new proposed algorithm is described by introducing a command signal modification method on the basis of impedance control and a validity of the proposed algorithm is demonstrated by showing a simulation and an experiment.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.9
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• pp.45-52
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• 2008

As multiple functions arc required in a robot controller, RTOS(Real Time Operating System) should be adopted to manage complex situations, such as choosing most urgent task among competing ones. In this paper, we implemented RTAI(Real Time Application Interface) based robot controller for wafer handling robots including graphic simulator. We showed how multiple tasks are organized and also explained in detail about task priorities and execution periods. Finally, we presented simulation results.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.58 no.1
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• pp.15-19
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• 2009

This paper presents the potential field for mobile robot path planning. The proposed repulsive potential has weighted parts, which consists of conventional repulsive potential and goals nonreachable with obstacles nearby repulsive potential. It ensures the global minimum of the total potential when the robot approaches goals near obstacle and the robot passes the adjacent obstacles. Simulation results shows that the proposed potential is better than conventional potentials.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.594-596
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• 2005

This paper present a learning controller for repetitive gate control of biped robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of learning control to biped robotic motion is shown via dynamic simulation and experimental results with 24 DOF biped robot.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.589-594
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• 1989

In this paper, a programming system for robot-based manufacturing cell which can control and simulate manufacturing devices as well as robots in workcell is proposed and developed. The system is based on world model, and modem textual and object-level robot programming language and interactive graphic world modeler are used to construct and exploit world model. Graphic simulation is used as an efficient and easy to use debugging or verifying tool for user written robot programs. Machine dependency is minimized by adopting the hierarchical control structure and by assuming all the workcell components as virtual ones.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.691-694
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• 2000

In this paper, a motion control algorithm is proposed by using neural network system, which makes a robot arm successfully avoid unexpected obstacle when the robot is moving from the start to the goal position. During the motion, if there is an obstacle the vision system recognizes it. And in every time the optimization-algorithm quickly chooses a motion among the possible motions of robot. The proposed algorithm has a good avoidance characteristic in simulation.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.36-40
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• 1986

This paper describes a design of the dynamic robot arm controller with two points of view, robustness and minimum tracking error. A new approach to the robust control of robot arm is developed and an explicit solution for minimum tracking error control is obtained from the regulator problem in the error space given by modifying the tracking problem. This control law is applied to the SCARA robot and the computer simulation is presented.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.32-35
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• 1987

An adaptive control scheme has been recognized as an effective approach for a robot manipulator to track a desired trajectory in spite of the presence of nonlinearties and parameter uncertainties in robot dynamic models. In this paper, an adaptive control scheme for a robot manipulator is proposed to design the self-tuning controller which combines the pole placement with the extended linearized perturbation model. And this control scheme has two components: a feadforward control and a feedback compensation control. Based on this, the controller is demonstrated by the simulation about position control of a three-link manipulator with payload and parameter uncertainty.

• Proceedings of the IEEK Conference
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• 2002.06e
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• pp.29-32
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• 2002

In this paper the wheeled mobile robot is studied. The kinematic and dynamic modeling of the robot is presented via LPD(Linear Parameter Dependent) framework. A path-planning algorithm which is optimized in the sense of robot mobility and distance is presented. And by using PI controller we show that the presented algorithm and model is work very well in the computer simulation and experiment.