• 제어로봇시스템학회논문지
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• 제16권2호
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• pp.101-106
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• 2010

Researches on air-ground robot cooperating system has been made recently. The cooperation among homogeneous robots focused on the architecture of the system, quality and influence of the communication. In contrast, the cooperation among heterogeneous robots such as aerial vehicle and ground vehicle robots has not been much handled. There are a couple of main points for those air-ground cooperating robots. One is using UAV (Unmanned Aerial Vehicle) as an extra sensor of UGV (Unmanned Ground Vehicle). This kind of application is usually used in situations such as guiding UGV to an appropriate path which could be better determined from the eye in the sky as UAV. The other main application of air-ground cooperating robot system is the localization. By combining sensor information from both UAV and UGV, the robot system as a whole can localize a target object or find features in the environment with better performance than UGV or UAV alone. Although these applications are recently studied in many different ways and devices, there are still a lot of possibilities in the field of air-ground cooperating robot systems. We introduce those research fields in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.518-521
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• 1995

In this paper, a learning control problem is formulated for cooperating multiple-robot manipulators with uncertain system parameters. The commonly held object is also assumed to be unknown and the multiple-robots themselfs experience uncertain operating conditions such as link parameters, viscous friction parameters, suctions, actuator bias, and etc. Under these conditions, the learning controllers designed for learning of uncertain parameters and robot control inputs for multiple-robot systems are shown to drive the multiple-robot manipulators to follow the desired Cartesian trajectory with the desired internal forces to the unknown object.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.818-829
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• 2003

A cooperating control algorithm for two nonholonomic mobile robots is proposed. The task is composed of collision avoidance against obstacles and carrying a ladder. The front robot and the rear robot are called the leader and the follower, respectively. Each robot has a nonholonomic constraint so it cannot move in perpendicular directions. The environment is initially supposed to be unknown except target position. The torque that drives leader is determined by distance between the leader and the target position or the distance between it and the obstacles. The torque by target is attractive and the torque by obstacles is repulsive. The two mobile robots are supposed to be connected by link that can be expanded and contracted. The follower computes its torque using position and orientation information from the leader by communication. Simulation results show that the robots can drive to target position without colliding into the obstacles and maintain the distance in the allowable range.

• 제어로봇시스템학회논문지
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• 제6권2호
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• pp.190-196
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• 2000

A hybrid position/force control scheme to regulate the force and position by dual arms is proposed where two arms are treated as one rm in a kinematic viewpoint. The force error calculated from the information of two force/torque sensors attached to the end of each arm is transferred to minimum configuration space coordinates and then is distributed to total system joint coordinates, The position adjustment at the total con-figuration coordinates is computed based on the effective compliance matrix with respect to total joint coordinates which is obtained by coordinate transformation between the task coordinates and the total joint coordinates. The proposed scheme is applied to sawing task. When the trajectory of the saw is planned to follow a line in a horizontal plane 2 position parameters are to be controlled(i.e., two translational positions) Also a certain level of contact force has to be controlled along the vertical direction(i.e. minus z-direction) not to loose the contact with the object to be sawn. We experimentally show that the performance of the velocity and force response are satisfactory. The proposed hybrid control scheme can be applied to arbitrary two cooperating arm system regardless of their kinematic structure and the number of actuated joints.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.904-907
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• 1996

In this paper, we propose an efficient collision-free path planning method of two cooperating robot manipulators grasping a common object rigidly. For given two robots and an object, the procedure is described which constructs the reduced dimensional configuration space by the kinematic analysis of two cooperating robot manipulators. A path planning algorithm without explicit representation of configuration obstacles is also described. The primary steps of the algorithm is as follows. First, we compute a graph which represents the skeleton of the free configuration space. Second, a connection between an initial and a goal configuration to the graph is searched to find a collision-free path.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.67-68
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• 2006

In this paper, a new revolute cooperating robot arms with 12 d.o.f was developed for autonomous moving robots. The robot ann was designed to have the load capacity of 10 Kg. For this, a new joint actuator based on the fourbar link mechanism was employed. As a control system for the robot arm, a distributed control system was developed composed of the main controller and five motor controller for the ann joints. The main controller and the motor controller were developed using the ARM microprocessor and the TMS320c2407 processor, respectively. To validate the performance of the robot system, an experiment to support 10 Kg payload was performed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.327-331
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• 1992

In this paper, we propose dynamic hybrid control method which takes the manipulator dynamics into consideration and extend to two cooperating robots. The first step is the linearization of the manipulator dynamics and the second step is the design of position/force controllers for the linearized model which takes account of both the command response and the robustness of the controllers to modeling errors and disturbance. We also consider load sharing for each robot.

• 한국정밀공학회지
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• 제17권9호
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• pp.87-94
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• 2000

In this paper we discuss the control scheme on cooperative control of two flexible manipulators working in 3D space. We propose a control scheme which consists of hybrid position/force control and vibration suppression control. Hybrid position/force control is extended from the scheme for two cooperating rigid manipulators to that for flexible ones. in addition to the control vibration suppression control based upon a lumped-mass-spring model of the flexible manipulators is applied. To illustrate the validity of the proposed control scheme we show experimental results. in the experiment a rigid object is handled by two cooperating flexible manipulators in 3D space.

• 한국가정과교육학회지
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• 제9권2호
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• pp.87-100
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• 1997

The purpose of this study were to investigate and no investigate and to compare perceptions of home economics teachers and educators regarding home economics student teaching pratice, thereby to provide fundamental information for improving home economics student teaching pratice. The specific objectives of this study were at follows. 1. To determine and compare the perceptions of home economics teachers and teacher educators regarding the importance and achievement of (1) the objectives of student teaching, (2) the experiences of student teaching, (3) procedures for selecting cooperating teachers, (4) roles and responsibilities of cooperating teachers, and (5) roles and responsibilities of university supervisors. 2. To identify problems and revisions about home economics student teaching pratice suggested by home economics teachers and teacher educators. The subjects in this study included 90 home economics teachers in 500 girls’middle schools and 13 teacher educators in 21 universities with home economics education department in Korea. For this study, the Habedi’s instruments were used through testing validity and reliability. The data of this study were analyzed by using mean, standard deviation, t-test, and content analysis. The results of this study were as follow；1. The areas with the difference of perceptions of the importance between the two groups were objectives of student teaching, experiences of student teaching, procedures for selecting cooperating teachers, and roles and responsibilities of cooperating teachers. 2. Regarding problems about home economics students teaching practice, home economics teachers indicated difficulty in performing adequate student teaching because of reduction in class hours, and lack of student teachers’positive attitude in performing student teaching, while teacher educators indicated having reluctancy of cooperating school to admit student teachers, and difference in experiences of student teachers because of disparity among cooperating schools. As solutions about the problems of home economics student teaching practice, home economics teachers suggested that student teaching course should be limited to the students qualified for teaching and that class observation and teaching practice in real class should be emphasized, while teacher educators suggested that student teaching should be performed adequately by providing institutions to control student teaching practice teacher should be made efficient by examining the scales of cooperating schools.

• 한국정보처리학회논문지
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• 제5권6호
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• pp.1575-1582
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• 1998

본 논문에서는 멀티에이전트 환경상에서 에이전트 그룹들이 문제 풀이 과정이 변화할 때 적절한 협력대상을 선택하여 문제 해결 능력을 증가 시킬 수 있도록 협력 모델을 설계하고 평가 하였다. 그룹간 협력의 방향과 범위를 결정하기 위해 그룹 이익함수를 사용하였고 그룹을 협력 관련 부분과 비 관련 부분으로 분리 운영하였다. 이렇게 상황에 따라 재구성되는 그룹들을 그룹 수준에서 운영하기 위해 기존의 자료와 목표(goal)가 아닌 그룹의도(group intention)를 제어 기준으로 사용하였다. 이로 인해 그룹들은 먼저 그룹의도를 결정하고 그룹의도의 범위 안에서 현 상황에 적절한 전략을 선택하는 계층적인 제어가 가능하게 되었다. 이상의 제안들은 추적게임 테스트베드에 적용하여 실험/평가 되었다.