• International Journal of Precision Engineering and Manufacturing
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• 제2권3호
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• pp.34-40
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• 2001

Robot manipulator has highly nonlinear dynamics. Therefore the control of multi-link robot arms is a challenging and difficult problem. In this paper a decentralized adaptive fuzzy sliding mode scheme is developed for control of robot manipulators. The proposed scheme does not require an accurate manipulator dynamic model, yet it guarantees asymptotic trajectory tracking despite gross robot parameter variations. Numerical simulation for decentralized control of a 3-axis PUMA arm will also be included.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 제39회 하계학술대회
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• pp.1823-1824
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• 2008

We propose a remote controlled robot manipulator using force feedback joystick. User can control easily 5 d.o.f robot manipulator in 3 demensional space using general joystick. A force sensor attached in developed gripper sends signal to main robot controller so as to know gripper grasp the object. The signal also sent to user through force feedback joystick. We designed a dexterous 5 d.o.f robot manipulator analysis the kinematics and inverse kinematics. The robot was simply developed using serial RC motor. As a main robot controller, we use 32bit MPU(AT91SAM7256) and micro C/OS. To show the validity of our developed robot, a several experiments were demonstrated.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 1999년도 봄 학술발표회 논문집
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• pp.203-209
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• 1999

In this study, the structural deflection analysis of robot manipulator for removing nuclear fuel rod from nuclear reactor vessel is performed by using general purpose finite element code (ANSYS). The structural deflection analysis results reported in this study is very required for the accurate design of robot system. The structural deflection analysis for the manipulator's structural status at which the gripper grasps and draws up the nuclear fuel rod is done, For this beginning structural status of robot manipulator's removing motion, the reaction forces at each joint have static maximum values as reported in the reference(6), and so these forces may cause the maximum deflection of robot structure. The structural deflection analysis is performed for selected four working cases of the proposed structural model and results on deformation, stress for the manipulator's solid body and the deflection at the end of robot manipulator's gripper are calculated. And further, the same analysis is performed for the slenderer manipulator with cross section reduced by one-fifth of each side length of proposed model. The analysis is performed not only for the nuclear fuel rod with weight load of 300kg but also for nuclear fuel rods with weight loads of 100kg, 200kg, 400kg and 500kg. The static structural deflection analysis results show that the deflection value increases as the load increases and the largest value (corresponding to the weight load of 500kg in case 1) is much smaller than the gap distance between nuclear fuel rods. but the largest value for the slenderer manipulator is almost as large as the gap distance, Hence, conclusively, the proposed manipulator's structural model is acceptably safe for mechanical design of robot system.

• 전자공학회논문지SC
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• 제48권1호
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• pp.39-46
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• 2011

본 논문은 실내에서 사용할 이동로봇의 구현과 제어에 대한 것이다. 로봇은 두 팔을 가지고 이동할 수 있는 베이스로 구성된다. 로봇은 디자인에 있어 및 가지 특정을 가진다. 첫 번째, 로봇의 허리는 높낮이 조절이 가능하다. 두 번째로 로봇은 접촉인 이동로봇 모드에서 2 점 접촉인 밸런싱 모드로 전환이 가능하다. 마지막으로 로봇은 상제와 하체의 분리 기능을 갖는다. 이동 베이스 부분은 청소작업에 사용이 가능하다.

• 제어로봇시스템학회논문지
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• 제20권6호
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• pp.651-656
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• 2014

This paper presents a compensation method for an accelerometer to measure acceleration data accurately when a robot manipulator moves slowly. Although the accelerometer works fine under the fast movement of a robot manipulator, low cost accelerometers provide relatively inaccurate acceleration data under slow movements. In order to correct the error of the sensor data in the slow motion, correction factors are obtained experimentally. Then those corrected data are used for the disturbance observer. Experimental studies of the position control of a robot manipulator are conducted by applying the DOB (Disturbance Observer) control using corrected acceleration data.

• 제어로봇시스템학회논문지
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• 제19권10호
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• pp.921-927
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• 2013

This paper presents a user interface for vision based indirect teaching of a robotic manipulator with Kinect and IMU (Inertial Measurement Unit) sensors. The user interface system is designed to control the manipulator more easily in joint space, Cartesian space and tool frame. We use the skeleton data of the user from Kinect and Wrist-mounted IMU sensors to calculate the user's joint angles and wrist movement for robot control. The interface system proposed in this paper allows the user to teach the manipulator without a pre-programming process. This will improve the teaching time of the robot and eventually enable increased productivity. Simulation and experimental results are presented to verify the performance of the robot control and interface system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1994년도 추계학술대회 논문집 학회본부
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• pp.305-307
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• 1994

In this paper, the desist and the implementation of a robust adaptive controller for trajectory tracking control of the robot manipulator is presented. The proposed control scheme ensures that without any prior knowledge of the robot manipulator parameters, tracking errors are converged to some boundary in the presence of a state-dependent input disturbances as well as the ideal case. The 3 DOF robot manipulator including actuator dynamics is used for the implementation of the proposed control scheme. The experimental results show that the proposed control scheme is valid for trajectory tracking control of the robot manipulator.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1994년도 추계학술대회 논문집 학회본부
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• pp.308-310
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• 1994

Position control for robot manipulator may not suffice when any contacts are made between the end-effector and various environments. Therefore interaction forces must be controlled in tasks performed by robot manipulator. In general, there are two types of force control for robot manipulator. One is a stiffness control and the other is a hybrid position/force control. Stiffness control is that environment can be modeled as a spring and utilizes the desired normal force to determine the desired normal position. Hybrid position/force control, however, can be used for robot manipulator to track position and force trajectories simultaneously. This paper will compare the result of the hybrid position/force control method with that of the stiffness control method.

• 대한기계학회논문집
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• 제18권9호
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• pp.2257-2264
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• 1994

A method to evaluate the position performance for a stochastically defined planar robot manipulator is presented. Performance is defined as the operational reliability based upon the positional errors of the manipulator tip. An analytical method is developed and applied to a two-link robot manipulator through forward kinematics. This study includes uncertainties in the link length, pin center location and radial clearance. By virtue of the effective link length model, only the nominal manipulator model and statistical information on the uncertainties are required. The results from the analytical method is compared to those from the Monte Carlo simulation.

• 제어로봇시스템학회논문지
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• 제4권1호
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• pp.100-104
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• 1998

A hybrid control method based on 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 method is illustrated through several simulations.