• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.441-446
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• 1992

We propose a control architecture for the fuzzy logic control of robot manipulators and a rule base derivation method for a fuzzy logic controller(FLC) using a neural network. The control architecture is composed of FLC and PD(positional Derivative) controller. And a neural network is designed in consideration of the FLC's structure. After the training is finished by BP(Back Propagation) and FEL(Feedback Error Learning) method, the rule base is derived from the neural network and is reduced through two stages - smoothing, logical reduction. Also, we show the performance of the control architecture through the simulation to verify the effectiveness of our proposed method.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.8
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• pp.32-38
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• 1998

In this paper, we design a robust controller for trajectory control of n-link robot manipulators with bounded parametric uncertainties. The proposed control scheme with integral control improves tracking error due to limit of the robust feedback gains and use of continuous control input for chattering rejection. The integral of the tracking error is augmented to the error system equation and the stability of the closed-loop system is achieved. The performance of the proposed method is demonstrated by simulation on a 2-link manipulator.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.154-161
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• 1999

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.1
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• pp.105-112
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• 1998

Regarding the measure of dexterity of robot manipulators, two geometric tools, manipulability ellipsoids and manipulability polytopes, are examined and compared with each other. Even though the manipulability ellipsoid approach is the most widely used technique, it is shown that the manipulability ellipsoid transforms the inexact joint velocity constraints into task space and so it may fail to give an exact measure of dexterity and optimal direction of motion in task space. After showing that the polytope approach can handle such problems, we propose a practical polytope method which can be applied to 3-dimensional task space in general. The relation between manipulability ellipsoids and manipulability polytopes are also explored for a redundant case and a non-redundant one.

• Proceedings of the KIEE Conference
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• 1987.11a
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• pp.430-434
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• 1987

This paper describes implementation of a robot programming system for automation of manufacturing products, which is embedded in the C programming language. World representation and motion primitives necessary to describe a manipulator task are provided by a set of procedure calls and user defined data structures. Off-line programming is implemented with graphic simulation as a debugging tool. PUMA 560 manipulators are used as a model for one task which inserts a nonstandard power IC Iota PCB. Communication facilities are provided for collision avoidance or two manipulators.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.37 no.3
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• pp.186-193
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• 1988

A pointwise PD-optimal control method is proposed for the continuous path control of robot manipulators with bounded inputs. The controller employs the desired acceleration plus PD (proportional and derivative) actions in the Cartesian space. The gain parameters of the controller are adjusted so that the Euclidean norm of the deviation between the actual and desired accelerations is minimized subject to the constraints of bounded input torques and the system guarantees negative feedback. To show the Validities of the proposed mithods, computer simulations are performed for a SCARA type robot.

• Proceedings of the KIEE Conference
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• 1998.07b
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• pp.598-600
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• 1998

In this paper, a robust controller is proposed to achieve the accurate tracking for uncertain robot manipulators with hydraulic actuator dynamics. The parameter uncertainty can be quantified by the linear parameterization technique. A switching controller is proposed to guarantee the global asymptotic stability of the plant. In order to eliminate the chattering caused by the switching controller, a smoothing controller is proposed using the boundary layer technique around the sliding surface. It is shown that the smoothing controller guarantees the uniform ultimate boundedness of the tracking, error. The proposed controller shows good better tracking performance.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.11 s.242
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• pp.1534-1541
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• 2005

Unlike industrial manipulators, the manipulators mounted on service robots are interacting with humans in various aspects. Therefore, safety has been one of the most important design issues. Many compliant robot arms have been introduced for safety. It is known that passive compliance method has faster response and higher reliability than active ones. In this paper, a new safety mechanism based on passive compliance is proposed. Passive mechanical elements, specifically transmission angle of the 4-bar linkage, springs and shock absorbing modules are incorporated into this safety mechanism. This mechanism works only when the robot arm exerts contact force much more than the human pain tolerance. Validity of this mechanism is verified by simulations and experiments. It is shown that the manipulator using this mechanism provides higher performance and safety than those using other passive compliance mechanisms or active methods.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1996.03a
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• pp.79-84
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• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C31) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.5 no.4
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• pp.26-37
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• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller. feedback controller. and PID type time-varying auxiliary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require a an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.