• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 G
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• pp.2351-2353
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• 1998

This paper suggests the wheel controller for PWS(Power Wheeled Steering) mobile robot. The proposed controller consists of two parts. To control each motor, the sliding mode controller implemented. This method has robustness about modeling error and disturbance, so the velocity tracking is well guaranteed in the presence of varying load. The design of a fuzzy cross-coupling controller for a PWS mobile robot is described here. Fuzzy cross-coupling control directly minimizes the tracking error by coordinating the motion of the two drive wheels. The fuzzy cross-coupling controller has excellent disturbance rejection and therefore is advantageous when the robot is not loaded symmetrically. The capability of the proposed controller was verified through the computer simulation.

• 제어로봇시스템학회논문지
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• 제11권4호
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• pp.337-343
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• 2005

In this paper, experimental studies of force control of the crack tracking robot are presented. The crack tracking robot should maintain constant contact with the road to perform cleaning process of the crack effectively. Regulating desired force on the road requires a sophisticated force control algorithm. Here, two main force control algorithms such as the impedance force control and the explicit force control are used. Performances of two force control algorithms are compared.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제7권2호
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• pp.96-101
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• 2007

Neural networks are known as kinds of intelligent strategies since they have learning capability. There are various their applications from intelligent control fields; however, their applications have limits from the point that the stability of the intelligent control systems is not usually guaranteed. In this paper we propose an adaptive tracking control for robot manipulators using the radial basis function network (RBFN) that is e. kind of neural networks. Adaptation laws for parameters of the RBFN are developed based on the Lyapunov stability theory to guarantee the stability of the overall control scheme. Filtered tracking errors between actual outputs and desired outputs are discussed in the sense of the uniformly ultimately boundedness(UUB). Additionally, it is also shown that parameters of the RBFN are bounded. Experimental results for a SCARA-type robot manipulator show that the proposed adaptive tracking controller is adaptable to the environment changes and is more robust than the conventional PID controller and the neuro-controller based on the multilayer perceptron.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.8-11
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• 1996

In impedance control for contact force tracking it is well known that the reference trajectory of the robot is calculated from known environment stiffness. The accuracy of estimating the environment stiffness determines the performance of the resulting force tracking. Here we present a simple technique, called the trajectory modification technique(TMT), of determining the reference trajectory under the condition that the environment stiffness is unknown. Computer simulation studies have shown that force tracking using the proposed technique is excellent for unknown environment with time varying stiffness.

• 제어로봇시스템학회논문지
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• 제13권10호
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• pp.983-989
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• 2007

Most of life thing including human being have tendency of reaction with inherently their own pattern against environmental change caused by such as light, sound, smell etc. Especially, a sense of direction often works as a very important factor in such reaction. Actually, human or animal lift that can react instantly to a stimulus determine their action with a sense of direction to a stimulant. In this paper, we try to propose how to give a sense of direction to a robot using sound being representative stimulant, and tracking sensors being able to detect the direction of such sound source. We also try to propose how to determine the relative directions among devices or robots using the digital compass and the RSSI on wireless network.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.917-922
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• 2003

In this paper, a high speed rotating arc sensor for automatic fillet welding is introduced. In order to track the welding seam, The high speed rotating arc sensor is used. The welding tip of a high speed rotating arc sensor rotates about 3000 rpm using DC motor. The rotating torch is driven by gear between welding torch body and wire guide. The welding current is measured by using the current sensor and rot at ing position sensor. To realize the welding seam tracking algorithm with accuracy, a software filter algorithm using the moving average method is applied to the measured welding current in the microprocessor. The welding mobile robot with two wheels and two sliders is developed for fillet welding. The welding mobile robot can control its traveling direction and turn itself around the corner. The effectiveness is proven through the experimental results conducted with varied fillet tracking patterns.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2015년도 제46회 하계학술대회
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• pp.1337-1338
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• 2015

In this paper, a new control technique using WIPDC(Weighted Integral Parallel Distributed Compensation) and ISMC(Integral Sliding Mode Control) is proposed for high performance and robust trajectory tracking control of a wheeled mobile robot. The WIPDC reduces the steady-state error by adding a weighted integral controller to the PDC. So, the trajectory tracking control using the WIPDC can obtain more accurate control performance than the PDC. And the ISMC based control input gives the mobile robot to preserve the system dynamics controlled by the WIPDC control input in spite of external disturbances. Therefore, the proposed control method shows a robust and precise trajectory tracking performance.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 D
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• pp.2473-2475
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• 2001

In trajectory tracking methods, the error values of current position and velocity are compensated to follow the given reference path and velocity. The path tracking for a wheeled mobile robot is treated in this paper. It is very difficult to implement stable trajectory tracking algorithms because mobile robots have kinematically non-holonomic constraints. For solving this problem, a velocity controller is presented in this paper. This velocity controller is designed by a PID controller which could be easily employed. In this case, velocity errors caused by system uncertainties or internal and external disturbances could exist. A neural network is used for compensating the velocity errors. Input variables of this neural network compensator are defined by differences between the velocities of the posture controller and the real velocities of the mobile robot. Simulation results show the effectiveness of the proposed controller.

• 한국생산제조학회지
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• 제22권3_1spc호
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• pp.607-614
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• 2013

This paper proposes a robot driving system and sensor implementation for use with an education robot. This robot has multiple functions and was designed so that children could use it with interest and ease. The robot recognizes the location of a user and follows that user at a specific distance when the robot and user communicate with each other. In this work, the robot was designed and manufactured to evaluate its performance. In addition, an embedded board was installed with the purpose of communicating with a smart phone, and a camera mounted on the robot allowed it to monitor the environment. To allow the robot to follow a moving user, a set of sensors combined with an RF module and ultrasonic sensors were adopted to measure the distance between the user and the robot. With the help of this ultrasonic sensors arrangement, the location of the user couldbe identified in all directions, which allowed the robot to follow the moving user at the desired distance. Experiments were carried out to see how well the user's location could be recognized and to investigate how accurately the robot trackedthe user, which eventually yielded a satisfactory performance.

• 제어로봇시스템학회논문지
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• 제9권10호
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• pp.798-807
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• 2003

We propose a blind mobile robot force control algorithm that uses force information as a guidance toward to the goal position. Based on the mobile robot dynamics, the control law is formed from explicit force errors. Simulation studies are conducted based on the kinematics and the dynamics of the mobile robot. Simulation results show that good force tracking can be achieved. In order to confirm simulation results, experiments are performed. The robot is commanded to follow unknown environment with maintaining a certain desired force. Experimental results show that the blind mobile robot successfully maintains contact with a regulated desired force and arrives at the goal position.