• 제어로봇시스템학회:학술대회논문집
• /
• 1987.10b
• /
• pp.382-388
• /
• 1987

In this paper, the performance of Mini MAP architecture is analyzed by simulation method. Token rotation time and waiting time are obtained by simulation. The results of the simulation are compared with these of the analytic model. From these comparisons, it is shown that simulation results are approximately identical to analytic results. Mini MAP architecture has good real time performances in token rotation time and waiting time and can be used to many real time applications.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.187-187
• /
• 2000

This paper presents the comparison of Euler-Rodrigues quaternion and Euler Angles using attitude kinematics for aircraft flight simulation. It is hard for PC-Level to accomplish real-time simulation. The purpose of this paper is to accomplish real-time simulation of the aircraft dynamics modeling parts and the graphics parts. The computation time is more reduced in case of applying quaternions than Euler Angles. This paper provides a quaternions algorithm and it's applications for the real-time simulation.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.5
• /
• pp.442-449
• /
• 2013

In this paper, a simulation system based on X-Plane and MATLAB/Simulink for multiple UAVs is presented. For the conceptual design of this proposed system, a hierarchical system architecture for multiple UAVs is presented. This architecture has object-oriented data structure which consists of three objects (UAV status, mission and task, and environment) and a hierarchy consisting of four layers (decision making layer, task assignment layer, path and motion planning layer, and collision avoidance layer) is also proposed. In addition, this paper shows a implementation of simulation system based on the proposed system architecture using X-Plane and MATLAB/Simulink. The result of simulation from the developed system in this paper validate capability of application for multiple UAVs in real environment.

• ICROS
• /
• v.10 no.1
• /
• pp.59-66
• /
• 2004

• ICROS
• /
• v.7 no.6
• /
• pp.26-31
• /
• 2001

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.76.6-76
• /
• 2002

Introduction. Modeling. Controller. Simulation. Experiment. Conclusion

• The Journal of Korea Robotics Society
• /
• v.17 no.4
• /
• pp.484-492
• /
• 2022

This paper presents a simple and robust under-actuated robotic finger mechanism that enables self-adaptive grip, fingertip pinch, and caging grasp functions. In order to perform daily activities using hands, the fingers should be able to perform adaptive gripping and pinching motion, and the caging grasp function is required to realize natural gripping motions and improve grip reliability. However, general commercial prosthetic hands cannot implement all three functions because they use under-actuation mechanism and simple mechanical structure to achieve light-weight and high robustness characteristic. In this paper, new mechanism is proposed that maintains structural simplicity and implements all the three finger functions with simple one degree-of-freedom control through a combination of a four-bar linkage mechanism and a wire-driven mechanism. The basic structure and operating principle of the proposed finger mechanism were explained, and simulation and experiments using the prototype were conducted to verify the gripping performance of the proposed finger mechanism.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.5
• /
• pp.416-422
• /
• 2013

This paper suggests a hybrid path planning method of multi-robots, where a path deviation prevention for maintaining a specific formation is implemented by using repulsive function, $A^*$ algorithm and UKF (Unscented Kalman Filter). The repulsive function in potential field method is used to avoid collision among robots and obstacles. $A^*$ algorithm helps the robots to find optimal path. In addition, error estimation based on UKF guarantees small path deviation of each robot during navigation. The simulation results show that the swarm robots with designated formation successfully avoid obstacles and return to the assigned formation effectively.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10a
• /
• pp.99-102
• /
• 1996

A novel iterative learning control scheme comprising a unique feedforward learning controller and a disturbance observer is proposed. Disturbance observer compensates disturbance due to parameter variations, mechanical nonlinearities, unmodeled dynamics and external disturbances. The convergence and robustness of the proposed controller is proved by the method based on Lyapunov stability theorem. The results of numerical simulation are shown to verify the effectiveness of the proposed control scheme.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.609-615
• /
• 2003

There were many papers on the bilateral teleoperation system. But a few papers dealt with the controller design method in the presence of uncertainties, disturbances and measurement noises. In this paper, we propose a robust controller design framework in teleoperation, which can overcome the compensation problem that will be defined. To prove the effectiveness of the method of proposed design, comparative simulation with the existing four channel design method was performed