• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10b
• /
• pp.501-506
• /
• 1993

An efficient solution algorithm of the optimal load distribution problem with joint torque constraints is presented. Multiple robot system where each robot is rigidly grasping a common object is considered. The optimality criteria used is the sum of weighted norm of the joint torque vectors. The maximum and minimum bounds of each joint torque in arbitrary form are considered as constraints, and the solution that reduces the internal force to zero is obtained. The optimal load distribution problem is formulated as a quadratic optimization problem in R, where I is the number of robots. The general solution can be obtained using any efficient numerial method for quadratic programming, and for dual robot case, the optimal solution is given in a simple analytical form.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.7
• /
• pp.656-662
• /
• 2008

A cost-function based on manipulability and compatibility is designed to determine assembly motions of two cooperating manipulators. Assembly motions are planned along the direction maximizing performance indices to improve control performance of the two manipulators. This paper proposes bimanual task compatibility by defining cost functions. The proposed cost functions are applied and compared to the bimanual assembly task. The problem is formulated as a constrained optimization considering assembly constraints, position of the workpieces, and kinematics and redundancy of the bimanual robot. The proposed approach is evaluated with simulation of a peg-in-hole assembly with an L-shaped peg and two 3-dof manipulators.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.25.3-25
• /
• 2001

This paper describes a control method of a robot cooperating with a human. A task in which a robot and a human move an object cooperatively is considered. To develop the force controller of the robot, the characteristics of human arm are investigated. The arm is forced to move along a trajectory in the experiment and the exerted force and the displacement are analyzed, It is found the force characteristics of the human arm is regarded as an optimal damper with minimizing a cost function. Then, the model is implemented to a robot and the cooperation of the robot and a human operator is examined. The effectiveness of the derived model is investigated and the experimental results show that the human moves the object supported by the robot with a minimum jerk trajectory.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.10
• /
• pp.972-976
• /
• 2015

The objective of this research is to verify the quantitative efficiency of a bimanual robotic task. Bimanual robots can realize dexterous and complicated motions using two cooperating arms. However, its motion planning and control method are not simple for implementing flexible tasks such as assembly. In this paper, the proposed motion planning method is used to find an optimal solution satisfying a designed cost function and constraints with regard to the kinematics and redundancy of the bimanual robot. The simulation results show that the lifetime of the manipulator can be changed by the proposed cost function consisting of angular velocity and angular acceleration of each joint in the same assembly task.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.2
• /
• pp.163-172
• /
• 2007

A swarm-bot docking with two independent robots aiming at overcoming obstacles or climbing up/down stairs is introduced how it can be manufactured and controlled. Utilizing the fast mobility of the vehicle robot and cooperating between robots expands the applications of the robot. An algorithm for identifying the partner robot and its generic mechanism enabling the docking of two robots are addressed. The designed swarm-bot has advantages in terms of overcoming obstacle or stair climbing which is not easily implemented by a single robot, increasing the adaptability to the environment.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.17 no.5
• /
• pp.431-437
• /
• 2012

PV simulators are essential equipment for testing power conditioning systems (PCS) which are one of an important part in PV generator systems, for testing before shipment. High dynamic PV simulator is required since MPPT(Maximum Power Point Tracking) test procedure has been established by EN50530 regulation recently. Most high quality PV simulator prevailed in the market is linear type which however has low efficiency. This paper proposes design guide lines for the power stage and LCL type filter cooperating with a switching mode PV simulator that shows high efficiency and very low power consumption. Proposed theory is verified by experiment.

• Computers and Concrete
• /
• v.24 no.5
• /
• pp.437-444
• /
• 2019

PLC and its expansion module, electric ball valve and cooling pipe, electric heating steel plate and various components of the system, which is used to control test and process data. By automatically adjusting the opening of the valve, the system makes the top temperature and cooling speed develop along the ideal temperature diachronic curve. Moreover, the system enables the temperature difference between inside and surface of test block limited in a given range by automatically controlling the surface board heating. The method of physical simulation test by sandbox with built-in cooling water pipe and heating rod is adopted. On the premise of a given standard value, the operation of the system is checked under different working conditions. Further, an extension of this system is proposed, which enables its application to obtain some thermal parameters when cooperating with numerical simulation.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.743-746
• /
• 1996

A hybrid control scheme to regulate the force and position by dual arms is proposed, where two arms are treated as one arm in a kinematic viewpoint. Our approach is different from other hybrid control approaches which consider robot dynamics, in the sense that we employ a purely kinematic based approach for hybrid control, with regard to the nature of position-controlled industrial robots. The proposed scheme is applied to sawing task. In the sawing task, the trajectory of the saw grasped by dual arms is planned in an offline fashion. When the trajectory of the saw is planned to follow a line in a horizontal plane, 3 position parameters are to be controlled(i.e, two translational positions and one rotational position). And 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. Typical feature of sawing task is that the contact position where the force control is to be performed is continuously changing. Therefore, the kinematic mapping between the force controlled position and the joint actuators has to be updated continuously. The effectiveness of the proposed control scheme is experimentally demonstrated. The proposed hybrid control scheme can be applied to arbitrary dual arm systems, regardless of their kinematic structure and the number of actuated joints.

• Journal of Advanced Marine Engineering and Technology
• /
• v.20 no.1
• /
• pp.37-43
• /
• 1996

This paper presents a new control scheme for decoupling the dynamics of two coordinating robot manipulators. A simple full-state feedback scheme with configuration dependent gains can be devised to decouple the system dynamics such that the dynamics of each arm and that of an object held by the two arms is independent of one another. A condition for stability is shown. The advantage of the proposed scheme is that the same control scheme can be applied both for the closed kinematic chain(object-grasping) case and open kinematic chain(no object-grasping) case.

• Proceedings of the Korean Operations and Management Science Society Conference
• /
• 2004.05a
• /
• pp.471-474
• /
• 2004

In order to quickly respond to the rapidly changing manufacturing environment, it is imperative for the system to have such capabilities as flexibility, adaptability, reusability, etc. One of the promising approaches for new manufacturing paradigm satisfying those capabilities is the fractal manufacturing system (FrMS). FrMS is based on the concept of autonomously cooperating and self-reconfigurable agents referred to as fractals. In this paper, a fractal template is proposed to have both fractal-specific and agent-specific characteristics and proper techniques for implementation are also selected. The proposed template can be easily extended to the platform of FrMS which supports simulation, shop flow control, and other research issues existed in the manufacturing systems. An example of applying the proposed template to the simulation is also presented.