• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.959-962
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• 2003

In this paper, a decentralized adaptive controller is proposed to control robot manipulators which are governed by highly nonlinear dynamic equations. The controller is computationally efficient since it does not require mathematical model or parameter values of robot manipulators. The stability of the manipulators with the controller is proved by Lyapunov theory. The results of computer simulations show that the robot manipulator system is stable, and has excellent trajectory tracking performance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1986년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 17-18 Oct. 1986
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• pp.26-30
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• 1986

This survey paper presents a review of control methods for redundant robot manipulators. Use of redundant degree of freedoms by local and global optimization techniques are described in terms of the Jacobian matrix equation for the redundant robot manipulators. Relevant problems for further use of redundant robot manipulators are then discussed.

• 제어로봇시스템학회논문지
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• 제14권12호
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• pp.1266-1269
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• 2008

We propose an integral sliding mode control for robot manipulators guaranteeing that sliding motion exists starting from an initial time. Also, we prove the asymptotic stability for robot manipulators using three important properties in the robot dynamics: skew-symmetry, positive-definiteness, and boundedness of robot parameter matrices. From illustrative examples, we show that the proposed method effectively controls for robot manipulators.

• 전기학회논문지
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• 제58권1호
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• pp.168-172
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• 2009

We compare an integral sliding mode control with a typical sliding mode control for robot manipulators through two primitive tasks: set-point regulation and trajectory tracking control. To prove the asymptotic stability of two methods for robot manipulators, we introduce three important properties in the robot dynamics: skew-symmetry, positive-definiteness, and boundedness of robot parameter matrices and we present one unified control structure using a parametric velocity vector. From illustrative examples, we show that two methods effectively control for robot manipulators.

• 한국정밀공학회지
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• 제21권11호
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• pp.110-116
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• 2004

In this paper, a decentralized adaptive controller is proposed to control robot manipulators which are governed by highly nonlinear dynamic equations. The controller is computationally efficient since it does not require mathematical model or parameter values of robot manipulators. The stability of the manipulators with the controller is proved by Lyapunov theory. The results of numerical simulations show that the system is stable, and has excellent trajectory tracking performance.

• 동력기계공학회지
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• 제18권4호
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• pp.91-96
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• 2014

The application of the recent model-based control schemes for robot manipulators require the solution of problems concerning various aspects, from the mechanical design to the necessity of determining a robot model suitable for control, and of experimentally testing the control performances. For one solution, integration of SolidWorks with Simscape for designing and controlling robot manipulators is presented in this paper. The integration provides a platform for rapid control prototyping of robot manipulators without the need for building real prototypes. Mechanical drawings of a robot are first created using Solidworks and imported into the Simscape, where a robot is represented by connected block diagrams based on the principle of physical modeling. Simulation examples for 7-DOF SAM ARM made by Berrett Technology Inc. are testified to show effectiveness of the presented platform.

• 드라이브 ㆍ 컨트롤
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• 제14권4호
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• pp.51-60
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• 2017

In this study to develop disaster response robot in complex disaster site, we present the design of hydraulic manipulators for armored robot systems. To this end, we performed voice of customer researches with firefighters and rescue personnel. We created and analyzed the mission scenario of firefighters and rescue personnel in complex disaster situations, and derived the required functions of the robot to successfully perform missions. A heavy-duty, heat resistant, dexterous hydraulic robot manipulators is designed to realize the required functions. The designed robot has been verified through simulations and analysis in terms of the working area of the robot, actuating torques, and temperature analysis.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.247-250
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• 2003

In this paper, we propose a robust controller for motion control of n-link robot manipulators using visual feedback. The desired joint velocity and acceleration is obtained by the feature-based visual systems and is used in the joint velocity control loop for trajectory control of the robot manipulator. We design a robust controller that compensates for bounded parametric uncertainties of robot dynamics. The stability analysis of robust joint velocity control system is shown by Lyapunov Method. The effectiveness of the proposed method is shown by simulation results on the 5-link robot manipulators with two degree of freedom.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.737-742
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• 2004

In this paper, a family of decentralized adaptive controller is proposed to control robot manipulators which are governed by highly nonlinear dynamic equations. The controller is computationally efficient since it does not require mathematical model or parameter values of the manipulators. The stability of the manipulators with the controller is proved by Lyapunov theory. The results of numerical simulations show that the system is stable, and has excellent trajectory tracking performance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.697-702
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• 1994

This paper illustrates a new learning control for robot manipulators using Lyapunov direct method. It has been shown that under the proposed learning control robot manipulators are always guaranteed to be asymptotically stable with respect to the number of trials. The proposed control is also robust in the sense that the exact knowledge of the nonlinear dynamics is not required except for bounding functions on the magnitude.