• Journal of the Korean Institute of Intelligent Systems
• /
• v.8 no.2
• /
• pp.50-59
• /
• 1998

This paper presents stabilization and adaptive control of flexible single link robot manipulator system by self-recurrent neural networks that is one of the neural networks and is effective in nonlinear control. The architecture of neural networks is a modified model of self-recurrent structure which has a hidden layer. The self-recurrent neural networks can be used to approximate any continuous function to any desired degree of accuracy and the weights are updated by feedback-error learning algorithm. When a flexible manipulator is rotated by a motor through the fixed end, transverse vibration may occur. The motor toroque should be controlled in such a way that the motor rotates by a specified angle, while simultaneously stabilizing vibration of the flexible manipuators so that it is arresed as soon as possible at the end of rotation. Accurate vibration control of lightweight manipulator during the large changes in configuration common to robotic tasks requires dynamic models that describe both the rigid body motions, as well as the flexural vibrations. Therefore, a dynamic models for a flexible single link robot manipulator is derived, and then a comparative analysis was made with linear controller through an simulation and experiment. The results are proesented to illustrate thd advantages and imporved performance of the proposed adaptive control ove the conventional linear controller.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.6
• /
• pp.471-477
• /
• 2000

The position control accuracy of a robot arm is significantly deteriorated when a long arm robot is operated at a high speed. In this case, the robot arm must be modeled as a flexible structure, not a rigid one, and its control system should be designed with its elastic modes taken into account. In this paper, the tip position control scheme of a one-link flexible manipulator using 2-DOF controller with sliding mode is presented. The robot consists of a flexible arm manufactured with a thin aluminium plate, an AC servo motor with a harmonic drive for speed reduction, an optical encoder and a CCD camera as a vision sensor for on-line measuring the tip deflection of the flexible m. Simulation and experimental results of the flexible manipulator with a proposed controller are provided to show the effectiveness of the controller.

• Journal of Mechanical Science and Technology
• /
• v.19 no.spc1
• /
• pp.357-363
• /
• 2005

The non-minimum phase characteristic of a flexible manipulator makes tracking control of its tip difficult. The level of the tip tracking performance of a flexible manipulator is significantly affected by the characteristics of the tip reference trajectory as well as the characteristics of the flexible manipulator system. This paper addresses the question of how to best specify a reference trajectory for the tip of a flexible manipulator to follow in order to achieve the objectives of reducing : tip tracking error, residual tip vibration, and the required actuation effort at the manipulator joint. A novel method of tip-based learning controller for the flexible manipulator system is proposed in the paper, where a model of the flexible manipulator system with a command shaping filter is used to generate a smooth and realizable tip reference trajectory for a tip-based learning controller.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.10a
• /
• pp.404-408
• /
• 2005

Having flexibility in a manipulator will degrade trajectory tracking control and manipulator tip positioning. In practice, however, constraints imposed by various operating requirements, will render the presence of such flexibility unavoidable. The dynamic analysis of the flexible manipulator is essential in designing proper control systems. A flexible manipulator consists of infinite number of elastic modes and the modes are usually coupled to each other. For the practicality, however, it is usually assumed that the flexible system consists of finite number of elastic modes and the modes are decoupled. These assumptions result in a linear and decoupled mathematical model of the flexible manipulator and simplify the analysis of the dynamic behavior and the design of the control system. The decoupling and linearization of the flexible link, however, has been assumed without in depth analysis. This paper focuses on the analysis of the significance of the non-linear coupling factors.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10a
• /
• pp.405-408
• /
• 1996

Several papers have already been reported on the flexible manipulator with constant arm length. Some of industrial manipulators, however, have sliding joints. It means that the length of their arm or link varies with time. This paper discusses the trajectory contro lof such a manipulator model, and shows some of the experimental results.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.547-551
• /
• 1996

In this paper, robust vibration control of a one-link flexible robot arm based on variable structure system is discussed. We derive dynamic equations of it using a Lagrangian assumed modes method based on Bernoulli-Euler Beam theory. The optimal sliding surface is designed and the problem of chattering is also solved by the adoption of a continuous control law within a small neighborhood of the switching hyperplane.

• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10a
• /
• pp.260-265
• /
• 1992

This paper presents an adaptive control scheme for flexible joint robot manipulators. This control scheme is based on the Lyapunov direct method with the arm energy-based Lyapunov function. The proposed adaptive control scheme uses only the position and velocity feedback of link and motor shaft. The adaptive control system of flexible joint robots is asymptotically stable regardless of the joint flexibility value. Therefore, the assumption of weak joint ealsticity is not needed. Also, joint flexibility value is unknown. Simulation results are presented to show the feasibility of the proposed adaptive control scheme.

• Journal of Advanced Navigation Technology
• /
• v.18 no.2
• /
• pp.158-164
• /
• 2014

For transmitting the ultra-high speed optical signals with better performance, the techniques to suppress or mitigate the signal distortion due to group velocity dispersion and optical Kerr effects are required. Dispersion management (DM), optical phase conjugation, and the combination of these two are promising techniques to compensate for the signal distortion. However, the fixed length of single mode fiber (SMF) and the fixed residual dispersion per span (RDPS) usually used in these optical links restricts flexible link configuration. The goal of this paper is to investigate the possibility of the flexible configurations of the ultra-high and long-haul optical transmission systems by using the artificial and the random distribution of SMF length and RDPS of each fiber spans consisted of the optical link. It is confirmed that the proposed link configurations should be one of the methods suitable for implementing the flexible optical transmission systems, however which depend on other link parameters, such as the averaged RDPS, and the launch power.

• The Korean Journal of Applied Statistics
• /
• v.30 no.5
• /
• pp.775-791
• /
• 2017

We frequently encounter binary data in real life. Logistic, Probit, Cauchit, Complementary log-log models are often used for binary data analysis. In order to analyze binary data, Liu (2004) proposed a Robit model, in which the inverse of cdf of the Student's t distribution is used as a link function. Kim et al. (2008) also proposed a generalized t-link model to make the binary regression model more flexible. The more flexible skewed distributions allow more flexible link functions in generalized linear models. In the sense, we propose a binary data regression model using skewed generalized t distributions introduced in Theodossiou (1998). We implement R code of the proposed models using the glm function included in R base and R sgt package. We also analyze Pima Indian data using the proposed model in R.

• Journal of Institute of Control, Robotics and Systems
• /
• v.5 no.2
• /
• pp.220-227
• /
• 1999

The position control accuracy of a robot arm is significantly deteriorated when a long slender arm robot is operated at a high speed. In this case, the robot arm needs to be modeled as a flexible structure, not a rigid one, and its control system needs to be designed with its elastic modes taken into account. In this paper, the vibration control scheme of a one-link flexible manipulator using adaptive input shaper in conjunction with PID controller is presented. The robot consists of a flexible arm manufactured with a thin aluminium plate, an AC servo motor with a harmonic drive for speed reduction, an optical encoder and an accelerometer. On-line identification of the vibration mode is done using the pruned decimation-in-time FFT algorithm to estimate the parameter of the input shaper. Experimental results of the flexible manipulator with a PID controller and input shaper are provided to show the effectiveness of the advocated controllers.