• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.129.5-129
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• 2001

When a robot manipulator performs some task like grinding or assembling, not only the position control but also the force control of the tools connected to the robot must be controlled. But at this time We were received the uncertainty problems of system information for the force control, for example disturbance, senor resolution and measurement noise. Therefore we proposed fuzzy logic control method instead of existing control theory for the robot manipulator control, for example PID control method. In this paper, We proposed hybrid position/force control of robot manipulator using fuzzy logic control method. To show the validity of the proposed fuzzy controller, We compared fuzzy controller with conventional PID controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.803-806
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• 1997

In this paper, a force estimation method is proposed for the sensorless force control. For this, a disturbance observer is applied to each joint of an n degrees of freedom manipulator to obtain a simple equivalent robot dynamics(SERD) being represented as an n independent double integrator system. To estimate the output of disturbance observer in the absence of external force, the observer estimator is designed, where the uncertain parameters of the robot manipulator are adjusted by gradient method to minimize the output between the disturbance observer and the observer estimator. When the external force is exerted, the external force is estimated using the difference between the output of disturbance observer which include the external torque signal and that of observer estimator. And then, a force controller is designed for force feedback control employing the estimated force signal. To verify the effectiveness of the proposed force estimation method, several numerical examples are illustrated for the 2-axis planar type robot manipulator.

• International Journal of Precision Engineering and Manufacturing
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• 제2권1호
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• pp.76-80
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• 2001

A binary parallel robot manipulator uses actuators that have only two stable states being built by stacking variable geometry trusses on top of each other in a long serial chain. Discrete characteristics of the binary manipulator make it impossible to analyze an inverse kinematic problem in conventional ways. We therefore introduce new definitions of workspace and inverse kinematic solution, and the apply a genetic algorithm to the newly defied inverse kinematic problem. Numerical examples show that our genetic algorithm is very efficient to solve the inverse kinematic problem of binary robot manipulators.

• 한국전자통신학회논문지
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• 제6권1호
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• pp.142-147
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• 2011

본 연구에서는 로봇 미들웨어 기술 중 국제표준으로 채택된 RTM을 이용하여 7자유도 매니퓰레이터 협업로봇의 구성 요소를 RT 컴포넌트로 만들었다. 또한 미들웨어 네트워크를 기반으로 로봇 구성 요소의 RT 컴포넌트를 서로 연결하여 하나의 로봇 시스템을 구현하였으며, 실제 제작된 7자유도 매니퓰레이터를 이용하여 구현 시스템의 동작을 테스트하였다.

• 전자공학회논문지
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• 제51권9호
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• pp.238-247
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• 2014

착유로봇 시스템은 움직이는 젖소의 유두 위치를 정확하게 검출해야 하고, 로봇 매니퓰레이터는 검출된 유두 위치값을 추적하여 착유컵이 유두에 장착하도록 제어되어야 한다. 제안된 착유로봇 매니퓰레이터는 위치검출 레이저 센서를 이용하여 유두를 스캐닝하고 임베디드 구동제어장치를 통하여 독립된 3축 브러쉬리스 서보 구동제어 메커니즘에 의하여 구현된다. 이 로봇 매니퓰레이터는 유두 위치검출용 레이저센서, 4개의 착유컵, 3축 x, y, z축의 매니퓰레이터, g축 방향 이송기능을 가진 유두인 식장치와 착유컵 구동장치, 임베디드 구동제어장치와 자동 밀크 제어라인으로 구성된다. 제안된 로봇시스템은 구동시스템 전체가 전기구동방식으로 설계되어 있기 때문에 구조가 간단하고, 저가로 제작이 가능하며, 구동시에 소음이 적기 때문에 젖소의 심적 안정성을 줄 수 있는 장점을 가지고 있다. 설계된 로봇은 축산과학원 농장에서 젖소를 대상으로 실험을 실시하였으며, 실험결과에 의하여 설계사양의 성능조건이 만족됨을 확인하였다.

• 한국정밀공학회지
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• 제9권3호
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• pp.73-82
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• 1992

An industrial robot, installed real manufacturing processes an element of the system autmation, can be considered as an uncertain system due to dynamic uncertainties in inertial parameters and varying payloads. Most difficuties in controlling a robot manipulator are caused by the fact that the dynamic equations describing the motions of the manipulator are inherently nonlinear and heavily coupled effects between joints and associated links. Existing robot conrol systems have constant predefined gains and do not cover the complex dynamic interactions between manipulator joints. As a result, the manipulator is severly limited in range of application, speed of operation and variation of payload. The proposed controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories defined by the desinger. The proposed manipulator studied has two loops, an inner loop of model reference adaptive controller and an outer loop of state feedback controller with integral action to guarantee the stability of the adaptive scheme. This adaptation algorithm is based on the hyperstailiy approach with an improved Lyapunov function. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance in practical working environment, various load variations and parameter uncertainties.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.183-187
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• 1989

This paper presents on approach to the position control of a robot manipulator by using a decentralized adaptive control scheme. The large scale system is regarded as the system which consists of many subsystems having interconnection. In each subsystem, a local control system is composed by feedforward and feedback component, one computes the nominal torque from the Newton-Euler equation, the other computes the perturbation equation which reduce the position error of the manipulator along the nominal trajectory. A computer simulation studies was conducted to evaluate and compare the performances of the proposed manipulator control scheme with those of the PD control and centralized control schemes.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1999년도 추계종합학술대회 논문집
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• pp.716-719
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• 1999

In this paper, a real-time control system for robot manipulator is implemented using real-time operating system with capabilities of multitasking, intertask communication and synchronization, event-driven, priority-driven scheduling, real-time clock control, etc. The hardware system with VME bus and related devices is developed and applied to implement a dynamic learning control scheme for robot manipulator. Real-time performance of the proposed dynamic learning controller is tested for tasks of tracking moving objects and compared with the conventional servo controller.

• 제어로봇시스템학회논문지
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• 제19권4호
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• pp.315-321
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• 2013

This paper presents the position-based force control application of a mobile manipulator. The mobile manipulator consists of two six DOF manipulators and a mobile robot. Kinematics of the robot is analyzed and simulated to validate the analysis. A position-based force control technique is applied to the robot by adding an outer loop to interact with the environment. Experimental studies of force control applications of robot arm and interaction with a human operator are conducted. Experimental results show that the robot arm is well regulated to follow the desired force.

• 한국산업융합학회 논문집
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• 제19권2호
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• pp.69-74
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• 2016

This study proposes a new approach to design of the robust control application of a mobile manipulator with dual-arm. The mobil manipulator robot system consists of 12 DOF manipulators and a mobile robot. Kinematics of the robotics has been analyzed and simulated to verify reliability. A position-based torque control technique is applied to the robot by adding an outer loop to interact with the environment. Experimental studies of torque control applications of robot arm and interaction with a user operator are conducted. Experimental results has been proved that the robot arm performed regulated to follow the desired reference.