• 제목/요약/키워드: controller operator

검색결과 246건 처리시간 0.028초

조립용 로봇의 오프라인 교시를 위한 영상 정보의 이용에 관한 연구 (Utilization of Vision in Off-Line Teaching for assembly robot)

  • 안철기
    • 한국공작기계학회:학술대회논문집
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    • 한국공작기계학회 2000년도 춘계학술대회논문집 - 한국공작기계학회
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    • pp.543-548
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    • 2000
  • In this study, an interactive programming method for robot in electronic part assembly task is proposed. Many of industrial robots are still taught and programmed by a teach pendant. The robot is guided by a human operator to the desired application locations. These motions are recorded and are later edited, within the robotic language using in the robot controller, and play back repetitively to perform robot task. This conventional teaching method is time-consuming and somewhat dangerous. In the proposed method, the operator teaches the desired locations on the image acquired through CCD camera mounted on the robot hand. The robotic language program is automatically generated and downloaded to the robot controller. This teaching process is implemented through an off-line programming software. The OLP is developed for an robotic assembly system used in this study. In order to transform the location on image coordinates into robot coordinates, a calibration process is established. The proposed teaching method is implemented and evaluated on an assembly system for soldering electronic parts on a circuit board. A six-axis articulated robot executes assembly task according to the off-line teaching in the system.

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자동화 크레인을 위한 네트워크 프로토콜의 성능 평가 (Performance Evaluation of Network Protocol for Protocol for Crane System)

  • 하경남;김만호;이경창;이석
    • 제어로봇시스템학회논문지
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    • 제11권8호
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    • pp.709-716
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    • 2005
  • As a way to build more efficient and intelligent container cranes for todays hub ports, communication networks are used to interconnect numerous sensors, actuators, controllers, and operator switches and consoles that are spatially distributed over a crane. Various signals such as sensor values and operator's commands are digitized and broadcast on the network instead of using separate wiring cables. This not only makes the design and manufacturing of a crane more efficient, but also easier implementation of intelligent control algorithms. This paper presents the performance evaluation of CAN(Controller Area Network), TTP(Time Triggered Protocol) and Byteflight that can be used for cranes. Through discrete event simulation, several important quantitative performance factors such as the probability of a transmission failure, average system delay (data latency) and maximum system delay have been evaluated.

운동패턴 인식과 재생산기법에 관한 연구 (A Study on Motion Recognition and Regeneration Method)

  • ;강창남;김영복
    • 동력기계공학회지
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    • 제18권4호
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    • pp.97-103
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    • 2014
  • In this paper, the authors consider a robot motion control to cope with painting, welding jobs and etc. Especially, a method for easy recognition and regeneration of the robot motions made by the operator is proposed. The method is based on the process of accurate modelling, controller design and experimental evaluation. In this study, the model and controller for all motions are obtained individually, where the control system is designed on the robust control framework. And the experiment result with good control performance is presented.

로봇 운용성 시뮬레이터(ROSim)의 군사로봇 운용성 평가에 실험적 적용 연구 (Experimental Application of Robot Operability Simulator (ROSim) to the Operability Assessment of Military Robots)

  • 최상영;박우성
    • 로봇학회논문지
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    • 제13권3호
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    • pp.151-156
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    • 2018
  • Military robots are expected to play an important role in the future battlefield, and will be actively engaged in dangerous, repetitive and difficult tasks. During the robots perform the tasks a human operator controls the robots in a supervisory way. The operator recognizes battlefield situations from remote robots through an interface of the operator control center, and controls them. In the meantime, operator workload, controller interface, robot automation level, and task complexity affect robot operability. In order to assess the robot operability, we have developed ROSim (Robot Operational Simulator) incorporating these operational factors. In this paper, we introduce the results of applying ROSim experimentally to the assessment of reconnaissance robot operability in a battle field. This experimental assessment shows three resulting measurements: operational control workload, operational control capability, mission success rate, and discuss its applicability to the defense robot research and development. It is expected that ROSim can contribute to the design of an operator control center and the design analysis of a human-robot team in the defense robot research and development.

5각 관절 병렬 구조를 이용한 6자유도 힘 반사형 마스터 콘트롤러 (A Six-Degree-of-Freedom Force-Reflecting Master Hand Controller using Fivebar Parallel Mechanism)

  • 진병대;우기영;권동수
    • 제어로봇시스템학회논문지
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    • 제5권3호
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    • pp.288-296
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    • 1999
  • A force-reflecting hand controller can provide the kinesthetic information obtained from a slave manipulator to the operator of a teleoperation system. The goal is to construct a compact hand controller that can provide large workspace and good force-reflecting capability. This paper presents the design and the analysis of a 6-degree-of-freedom force-reflecting hand controller using fivebar parallel mechanism. The forward kinematics of the fivebar parallel mechanism has been calculated in real-time using three pin-joint sensors in addition to six actuator position sensors. A force decomposition approach is used to compute the Jacobian. To evaluate the characteristics of the fivebar parallel mechanism, it has been compared with the other three parallel mechanisms in terms with workspace and manipulability measure. The hand controller using the fivebar parallel mechanism has been constructed and tested to verify the feasibility of the design concept.

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유연 관절 매니퓰레이터의 자기 구성 퍼지 제어 (Self-Organizing Fuzzy Control of a Flexible Joint Manipulator)

  • Park, J.H.;Lee, S.B.
    • 한국정밀공학회지
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    • 제12권8호
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    • pp.92-98
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    • 1995
  • The position control of flexible joint manipulator is investigated by applying the self-organizing fuzzy logic controller (SOC) proposed by Procyk and Mamdani. The SOC is a heuristic rule-based controller and a further extension of an ordinary fuzzy controller, which has a hierachy structrue which consists of an algorithm being identical to a fuzzy controller at the lower ollp and a learning algorithm accomodating the performance evalution and rule modification function at the upper ollp. This form of control can be used in those complex systems which have been too difficult to control or which in the past have had to rely on the experience of a human operator. Even though the significant dynamic coupling of the motors and links on the flexible joint manipulator, the performance of command-following is good by applying the proposed SOC.

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계층적 분석방법을 이용한 퍼지 로봇 핸드의 양방향 제어의 구현 (Implementation of Bilateral Control of fuzzy Robot Hand using Analytic Hierachy Process)

  • 진현수
    • 대한전자공학회:학술대회논문집
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    • 대한전자공학회 2003년도 하계종합학술대회 논문집 V
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    • pp.2827-2830
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    • 2003
  • Tele manipulator is distingushed from industrial robot by iterating same specified work. Manipulator operator is included in control loop for controlling the telemanipulator because he decide directly during the work and order controllabily reducing the modelling error of telemanipulator which depend on the PID controller. But position-force control method of bidirectional control impose unsafety of vibiration and Analytic Hierachy Method can stabilize for reducing nonlinear modelling error by expert operator because of transformation empirical control rule to linear model.

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수증운동체 자동심도제어 시스템 설계연구 (Design of auto-depth control system for submerged body)

  • 이동익;윤형식;최중락;양승윤
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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    • pp.481-484
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    • 1990
  • Normal operation when deeply submerged is a relatively easy task, and human operator control can often provide adequate performance. Near surface depthkeeping, on the other hand, is difficult to both man and machine. Because of the inherent limitation of the human operator, manual control may prove inadequate for near surface depthkeeping in some sea state. This paper describe the control algorithm of an automatic depth control system for submerged body that can be used for both near surface and deeply submerged depthkeeping operations. The computer simulations demonstrate the excellent depthkeeping performance of the controller under seaway effects.

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REMARK ON THE CONTROLLABILITY FOR SEMILINEAR EVOLUTION EQUATIONS

  • Jeong, Jin-Mun
    • East Asian mathematical journal
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    • 제29권5호
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    • pp.481-489
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    • 2013
  • In this paper we deal with approximate controllability for semilinear system in a Hilbert space. In order to obtain the controllability, we assume that the system of the generalized eigenspaces of the principal operator is complete in the state space, which has a simple form and can be applied to many examples. Because of its simple form, some examples of controllability of the systems governed by the semilinear equations will be given.

Reliable Robust Control for Singularly Perturbed Systems by Delta Operator Approach

  • Shim, Kyu-Hong;M. Edwin Sawan
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2001년도 ICCAS
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    • pp.34.5-34
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    • 2001
  • This paper presents a reliable H$\infty$ controller design for singularly perturbed systems by the delta operator approach that guarantees stability with a known H$\infty$ norm bound in case of failures in some control channels. Prespecified are the control channels that may experience failures. Sensor outage is covered in this paper It is shown that the delta systems have improved finite wort length characteristics in the example.

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