• Title/Summary/Keyword: Robot structure

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An Adaptive Control Method of Robot Manipulators using RBFN (RBFN을 이용한 로봇 매니퓰레이터의 적응제어 방법)

  • 이민중;최영규;박진현
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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    • pp.420-420
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    • 2000
  • In this paper, we propose an adaptive controller using RBFN(radial basis function network) for robot manipulators The structure of the proposed controller consists of a RBFN and VSC-1 ike control. RBFN is used in order to approximate かon system, and VSC-like control to guarantee robustness On the basis of the Lyapunov stability theorem, we guarantee the stability for the total system. And the learning law of RBFN is established by the Lyapunov method, Finally, we apply the proposed controller to tracking control for a 2 link SCARA type robot manipulator.

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Fuzzy Rule for Curve Path Tracking of a Unicycle Robot (유니사이클 로봇의 곡선경로 추종을 위한 퍼지규칙)

  • 김중완;정희균
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 1996.11a
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    • pp.425-429
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    • 1996
  • Our unicycle has simple mechanical structure. But unicycle's dynamic system is a very sensitive unstable nonlinear system. In this paper, a fuzzy inference control mechanism was established throughout an inquiry into human riding a unicycle, and we developed a direct fuzzy controller to control our unicycle robot. This proposed fuzzy controller is consisted with fuzzy logic controllers for attitude stability and wheel's velocity. Computer simulation results show that our fuzzy controller has very powerful performance to unstable nonlinear unicycle robot system.

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A Study on the tracking control of a robot manipulator using variable structure systems (I) (가변구조 이론에 의한 로보트 팔의 추종제어에 관한 연구 (I))

  • Lee, Jin-Kul
    • Journal of the Korean Society for Precision Engineering
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    • v.2 no.1
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    • pp.41-52
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    • 1985
  • This study is a step in developing the sliding mode control methodology for the robust control of a class of nonlinear time-varying systems. The methodology uses in its idealized form piecewise continuous feedback control, resulting in the state trajectory "sliding" slong a time-varying sliding surface in the state space. This idealized control law achieves perfect tracking. The method is applied to the control of a two-link manipulator handling variable loads in a flexible manufacturing system environment with noise. The result through simulation is that the tracking problem of articular robot with high precision can be realized by using the variable structure system (VSS) theory. The motions of articular robot were insensitive to various payloads. payloads.

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Variable structure control system design guaranteeing continuity of control signal

  • Park, Kang-Bark;Lee, Ju-Jang
    • 제어로봇시스템학회:학술대회논문집
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    • 1996.10a
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    • pp.16-19
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    • 1996
  • In this paper, a sliding mode control scheme that guarantees the smoothness of the control signal and the exponential error convergence is proposed for robot manipulators. The proposed method inserts a low pass filter (LPF) in front of the plant, and the virtual controller is designed for the virtual plant - the combination of the LPF and the robot manipulator. The virtual control signal contains high frequency components because of a switching function. The real control signal, however, always shows a smooth curve since it is an output of the LPF. In addition to the smoothness of the control signal is always assured, the overall system is in the sliding mode at all times, that is, its performance is always invariant under the existence of parameter uncertainties and external disturbances. The closed-loop system is shown to be globally exponentially stable.

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Development of Biped Walking Robot Capable of Supporting Heavy Weight (고중량 지지 가능한 이족보행로봇의 개발)

  • Choi H.S.;Lee S.J.;Oh J.H.;Kang Y.H.
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2006.05a
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    • pp.63-64
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    • 2006
  • In this paper, design modification was performed to improve the structure of ex-developed 12 D.O.F Biped walking robot, KUBIR-1 similar with human beings. The motion of KUBIR-1 was slow and had a limited walking space. Hence I designed an improved BWR named KUBIR-2 with 12 degree of freedom. KUBIR-2 was designed to solve the following problems of KUBIR-1. First, KUBIR-2 was more simply designed in the four-bar-link mechanism, and its weight was reduced. Second, it had the built-in controller and motor driver. Third, walking velocity of KUBIR-2 was increased by improvement of speed and motion joint angle range. In addition to these, we modified the structure of the foot for more stable walking.

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Obstacle Avoidance of a Mobile Robot with Intelligent Controller of Hierarchical structure (계층구조의 지능제어기를 가진 이동로봇의 장애물 회피)

  • Choi, J.W.;Han, K.K.;Park, C.K.;Kim, Y.T;Lee, D.H.
    • Proceedings of the KIEE Conference
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    • 2000.07d
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    • pp.2895-2897
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    • 2000
  • This paper proposes a new fuzzy-neural algorithm for navigation of a mobile robot with stationary and moving obstacles environment. The proposed algorithm has two-layered hierarchical structure such as a lower layer for collision avoidance and goal approach. and upper layer for adaptive combination of these two algorithms. Some computer simulation results for a mobile robot equipped with ultrasonic range sensors show that the suggested navigation algorithm is very effective in stationary and moving obstacles environment.

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Design of Fuzzy Control System for Dual-Arm robot Based-on TMS320C40 (TMS320C40를 이용한 이중아암 로봇의 퍼지제어 시스템 설계)

  • 김종수;정동연;한성현
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • 2002.10a
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    • pp.241-249
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    • 2002
  • In this paper, a self-organizing fuzzy controller(SOFC) for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy login composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis of a FLC, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult SOFC is proposed for a hierarchical control structure consisting of basic level and high level that modify control rules. The proposed SOFC scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for robot with tow joints.

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Design of Fuzzy Logic Controller for Robot Manipulators in the VSS Control Scheme

  • Yi, Soo-Yeong;Chung, Myung-Jin
    • Proceedings of the Korean Institute of Intelligent Systems Conference
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    • 1993.06a
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    • pp.1207-1210
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    • 1993
  • There is an opinion of regarding a simple fuzzy logic controller as a kind of Variable Structure Controller in recent years. The opinion may provide an analytical basis which describes the robustness to uncertainty and the stability of a fuzzy logic controller. So in this paper, a fuzzy logic controller based on the Variable Structure System with is designed for a robot manipulator which is a class of complex, nonlinear system with uncertainty. Fuzzy control rules, membership shape of the I/O variables of the fuzzy logic controller are designed for guaranteeing the stability of an overall control system. From a computer simulation of dynamic control of a two link robot manipulator, the design procedure of the fuzzy logic controller is validated.

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A Passively Growing Sheath for Reducing Friction of Linearly Moving Structures (리니어 구동 구조의 마찰 저감을 위한 수동형 성장 피복)

  • Seo, Hanbeom;Kim, Dongki;Jung, Gwang-Pil
    • The Journal of Korea Robotics Society
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    • v.17 no.2
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    • pp.159-163
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    • 2022
  • A linearly moving structure in the area where the friction force is dominant - such as ducts filled with grease in the nuclear power plant - experiences increase in friction since the contact surface gets larger as the structure proceeds. To solve this problem is critical for the pipe inspection robot to investigate further area and this makes the system more energy-efficient. In this paper, we propose a passively growing sheath that can be added to linearly moving structures using zipper mechanism. The mechanism enables the linearly moving structures to maintain rolling contact condition against external environment, which provides substantial reduction in kinetic friction. To analyze the effect of the mechanism's head shape, we establish a physical model and compare to the experimental results. Finally, we have shown that the passively growing sheath can be successfully applied to the pipe inspection robot for the nuclear power plant.

Functions and Driving Mechanisms for Face Robot Buddy (얼굴로봇 Buddy의 기능 및 구동 메커니즘)

  • Oh, Kyung-Geune;Jang, Myong-Soo;Kim, Seung-Jong;Park, Shin-Suk
    • The Journal of Korea Robotics Society
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    • v.3 no.4
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    • pp.270-277
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    • 2008
  • The development of a face robot basically targets very natural human-robot interaction (HRI), especially emotional interaction. So does a face robot introduced in this paper, named Buddy. Since Buddy was developed for a mobile service robot, it doesn't have a living-being like face such as human's or animal's, but a typically robot-like face with hard skin, which maybe suitable for mass production. Besides, its structure and mechanism should be simple and its production cost also should be low enough. This paper introduces the mechanisms and functions of mobile face robot named Buddy which can take on natural and precise facial expressions and make dynamic gestures driven by one laptop PC. Buddy also can perform lip-sync, eye-contact, face-tracking for lifelike interaction. By adopting a customized emotional reaction decision model, Buddy can create own personality, emotion and motive using various sensor data input. Based on this model, Buddy can interact probably with users and perform real-time learning using personality factors. The interaction performance of Buddy is successfully demonstrated by experiments and simulations.

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