• Journal of Advanced Marine Engineering and Technology
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• 제26권4호
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• pp.432-438
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• 2002

In this paper, we described a technique for the swing-up control of a 2 link acrobat robot using a cannonical form which is derived form the law of conservation of an angular momentum based on the center of the first joint. The wide usefulness of the canonical form of the acrobat robot, which was suggested here, is could also be applied to control a free flying robot or an underactuated planar manipulator with no gravity term. Some simulation results are provided to verify the effectiveness of the proposed algorithm

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 추계학술대회논문집
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• pp.107-110
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• 2006

In this paper, shock response analysis considering the elastic effects of guard robot is performed using computer simulations when a machine gun of guard robot fires a shot continuously. The bodies of guard robot are modelled in flexible multi-body. The results of its analysis is compared with results of rigid bodies. The tools of computer simulation is used in Multi-body dynamics program.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.139-142
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• 1996

This paper presents a method of controlling contact force for deburring tasks. The cope with the nonlinearities and time-varying properties of the robot and the environment, a neural network control theory is applied to design the contact force control system. We show that the contact force between the hand and the contacting surface can be controlled by adjusting the command velocity of a robot hand, which is accomplished by the modeling of a robot and the environment as Mass-Spring-Damper system. Simulation results are shown.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.76.2-76
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• 2002

Because of the wheeled mobile robot is modeled by nonlinear system framework and controlled by nonlinear algorithms or fuzzy algorithms, the treatment of wheeled mobile robot is very complecate and conservative. In this paper, a new model of two wheeled mobile robot, which is a type of linear system and treated easily, is presented. And we will show that the control algorithms based on the linear system theory is well work to the wheeled mobile robot by simulation and experiment.

• 제어로봇시스템학회논문지
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• 제4권5호
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• pp.636-643
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• 1998

This paper is presents multivariable control scheme for industrial robot manipulators. The control scheme consists of two loops. The modeling error between linearized robot model and actual robot model is compensated in error compensation loop. The PID control loop is designed for pole assignment to stability of robot system and utilized for trajectory tracking. Alternatively computer simulation results are given for illustration purpose of suggested controller.

• 제어로봇시스템학회논문지
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• 제4권5호
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• pp.666-673
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• 1998

To increase reliability and performance of an IMS(Intelligent Manufacturing System), fault tolerant control based on an accurate fault diagnosis is needed. In this paper, robot FDI(fault detection and identification) is proposed for IMS where the robot is controlled with state estimates of a nonlinear filter using a mathematical robot model. The Chi-square test and GLR(General likelihood ratio) test are applied for fault detection and fault size is estimated by a proposed bias filter. Performance of the proposed algorithm is tested by simulation for studies.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.397-397
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• 2000

This paper presents a gait control scheme for teleoperation of a quadruped-walking robot. In teleoperation of a walking robot, an operator gives a real-time generated velocity command to a walking robot instead of a moving trajectory. When the direction of the velocity command is changed, the periodic gait is not available because this requires an initial foot position . This paper proposes the aperiodic gait control scheme that can converge to a periodic gait Simulation results are given to demonstrate the efficiency of the proposed control scheme.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 G
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• pp.3083-3085
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• 1999

This paper presents an algorithm that the mobile robot track accurately a moving object with information from a CCD camera mounted on mobile robot. Singular Value Decomposition is adapted to remove the measurement noise of a Raw data of CCD. The mobile robot estimate the trajectory using Kalman filter and track the path of a moving object with a servo motor. Computer simulation results are showed that the efficient tracking system for the mobile robot is designed properly.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2003년도 추계학술대회
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• pp.207-212
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• 2003

This paper proposed trajectory tracking control of Mobile Robot. Trajectory tracking control scheme are Real coding Genetic-Algorithm and Back-propergation Algorithm. Control scheme ability experience proposed simulation.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2004년도 추계학술대회 논문집
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• pp.181-186
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• 2004

This paper proposed trajectory tracking control of Mobile Robot. Trajectory tracking control scheme are Real coding Genetic-Algorithm and Back-propergation Algorithm. Control scheme ability experience proposed simulation.