• 한국컴퓨터정보학회논문지
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• 제10권6호
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• pp.345-354
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• 2005

이동매니퓰레이터는 -이동로봇과 작업로봇이 직렬로 결합된 형태 - 작업 공간 밖에 존재하는 작업에 대하여 높은 성능으로 작업을 수행할 수 있으므로 고정 베이스 구조의 매니이퓰레이터에 비하여 다양한 작업 환경에서 유용하다. 임의의 위치에 있는 물체를 인식하기 위하여 이동매니퓰레이터에 부착된 2자유도의 능동카메라에 의해 입력되는 영상과 능동카메라의 기구학적 관계에 기초를 두는 직각좌표계를 이용하여 물체의 위치와 이동로봇의 위치를 구하는 방법을 제시한다. 동차행렬을 이용하여 이미지정보와 물체의 위치를 해석하므로 이동매니퓰레이터의 최적경로를 생성한다. 최종적으로, 물체의 인식을 통하여 작업로봇을 제어할 수 있는 조인트변수의 값을 계산한다. 제안된 방법은 제작된 이동매니퓰레이터로 시뮬레이션과 실험을 통하여 확인되어지고 논의된다.

• 제어로봇시스템학회논문지
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• 제19권5호
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• pp.462-467
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• 2013

This paper presents a modified disturbance observer (MDOB) for controlling two arms of a manipulator designed for a home service robot. The MDOB is slightly different from the original DOB in that it uses an accelerometer to measure acceleration of the robot arm. Then it uses the acceleration to estimate the disturbance to cancel out in the control loop. Relying on the acceleration information of the robot arm, a partial model-based control structure is formed. Experimental studies of position control of 2 DOF robot arm are conducted to evaluate the performance of the proposed position control by an MDOB method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1093-1098
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• 2003

In this paper, a practical methodology of hand-manipulator motion coordination for indoor service robot is introduced. This paper describes the procedures of opening door performed by service robot as a noticeable example of motion coordination. This paper presents well-structured framework for hand-manipulator motion coordination, which includes intelligent sensor data interpretation, object shape estimation, optimal grasping, on-line motion planning and behavior-based task execution. This proposed approach is focused on how to integrate the respective functions in harmony and enable the robot to complete its operation under the limitation of usable resources. As a practical example of implementation, the successful experimental results in opening door whose geometric parameters are unknown beforehand are provided.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1993년도 추계학술대회 논문집
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• pp.575-581
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• 1993

This paper deals with analysis of articulated robot manipulator used for Arc welding and Material handling. Compared with present robot of which weight holding capacity is 6kg, this robot shows wider and symmetric working range for it's serial type mechanism. The link length is determined to have widest working range by using optimal simulation. To reduce body's weight, small AC servo motor is adopted and driving peak torque exerted at each joint is reduced by using dynamic analysis. So it is possible to reduce body's weight by 40% compared with the same class's robot and get wider working range. And by adopting modular design concept, each axis is designed to be changed easily for user's special need and repair.

• 제어로봇시스템학회논문지
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• 제12권3호
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• pp.294-299
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• 2006

This paper studies a visual feedback control scheme for robot manipulators with camera-in-hand configurations. We design a robust controller that compensates for bounded parametric uncertainties of robot mechanical dynamics. In order to reduce steady state tracking error of the robot arms due to uncertain dynamics, integral action is included in the control input. Using the Lyapunov stability criterion, the uniform ultimate boundedness of the tracking error is proved. Simulation and experimental results with a 2-1ink robot manipulator illustrate the robustness and effectiveness of the proposed control algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.397-402
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• 2005

In this paper, to improve the efficiency of welding and user convenience in the shipbuilding industry, a PC-based off-line programming (OLP) technique and the development of a robot transfer unit are presented. The developed OLP system is capable of not only robot motion simulations but also automatic generations of a series of robot programs. The strength of the developed OLP system lies in its flexibility in handling the changes of the welding robot's target objects. Moreover, for a precise transfer of the robot to a desired location, an auxiliary mobile platform named a robot-origin-transfer-unit (ROTU) was developed. To enhance the cornering capability of the platform in a narrow area, the developed ROTU is equipped with 2 steering wheels and 1 driving wheel. Both the OLP and the ROTU were field-tested and their performances were proven successful.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.292-295
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• 2001

Conventional robots actuated by motors with the speed reducer such as harmonic drive had weakness in delivering loads, pressing, grinding, and cutting jobs. To overcome this, a new type of robot actuated by the ball screw was proposed. The ball screw is actuated by using four bar mechanism. The dynamics model of the robot was set up. The robot has parameter uncertainties and nonlinearlity due to the ball screw actuator. To coordinate the robot, the sliding-mode control was applied.

• 전자공학회논문지B
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• 제32B권5호
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• pp.777-787
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• 1995

This paper presents a new method for automatically calibrating robot link (Kinematic) parameters during the process of estimating motion parameters of a moving object. The motion estimation is performed based on stereo cameras mounted on the end-effector of a robot manipulator. This approach significantly differs from other calibration approaches in that the calibration is achieved by simply observing the motion of the moving object (without resorting to any other external calibrating tools) at numerous and widely varying joint-angle configurations. A differential error model, which expresses the measurement errors of a robot in terms of robot link parameter errors and motion parameters, is developed. And then a measurement equation representing the true measurement values is derived. By estimating the above two kinds of parameters minimizing the difference between the measurement equations and the true moving pattern, the calibration of the robot link parameters and the estimation of the motion parameters are accomplished at the same time.

• 한국정밀공학회지
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• 제20권6호
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• pp.55-61
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• 2003

Control of multi-link robot arms is a challenging and difficult problem because of the highly nonlinear dynamics. Independent joint adaptive scheme is developed for control of robot manipulators based on Sugeno-type of fuzzy logic. Fuzzy logic system is used to approximate the coupling forces among the joints, coriolis force, centrifugal force, gravitational force, and frictional forces. The proposed scheme does not require an accurate manipulator dynamic, and it is proved that closed-loop system is asymptotic stable despite the gross robot parameter variations. Numerical simulations for three-axis PUMA robot are included to show the effectiveness of controller.

• 한국정밀공학회지
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• 제22권6호
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• pp.98-108
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• 2005

Conventional robot manipulators actuated by motors with the speed reducer such as the harmonic drive have weakness in the load capacity, since the speed reducer does not have enough strength. To improve this, a new type of robot actuator based on the four-bar-link mechanism driven by the ball screw was constructed. Also, a new type of revolute robot manipulator composed of the developed actuators was developed. But, modelling errors occur due to the off-set from the nominal model since the exact modeling of the complex inertia variation of the four-bar-link actuator is very difficult. To control the proposed robot along the prescribed trajectory, a sliding mode control algorithm was applied with compensation function for the modeling errors. To show performance of the proposed controller, a computer simulation was performed, and its results was presented.