• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.174-178
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• 1991

In this paper, we present a unified approach for the control of manipulator motions and active forces based on the operational space formulation. The end-effector dynamic model is used in the development of a control system in which the generalized operational space end-effector forces are selected as the command vector. A "generalized position and force specification matrix" is used for the specification of space of motions and forces in which manipulator is to be controlled. Flexibility in the force sensor, end-effector, and environment are discussed.discussed.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.1
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• pp.66-72
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• 2000

As the demand for the design of modular manipulators or special purpose manipulators has increased, task based design to design an optimal manipulator for a given task become more and more important. However, the complexity with a large number of design parameters, and highly nonlinear and implicit functions are characteristics of a general manipulator design. To achieve the goal of task based design, it is necessary to develop a methodology to solve the complexity. This paper addresses how to determine the kinematic parameters of a two-degrees of freedom manipulator with parallelogram five-bar link mechanism from a given task, namely, how to map a given task into the kinematic parameters. With simplified example of designing a manipulator with five-bar link mechanism, the methodology for task based design is presented. And it introduces formulations of a given task and manipulator specifications, and presents a new dexterity measure for manipulator design. Also the optimization problem with constraints is solved by using a genetic algorithm that provides robust search in complex spaces.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.743-746
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• 1997

The Master-Slave manipulator is the generally used remote handling equipment in the hot cell, in which the high level radioactive materials such as spent fuels are handled. To analyze the motion and to implement the training system by virtual reality technology, the simulator for M-S manipulator using the computer graphics is developed. The parts are modelled in 3-D graphics, assembled, and kinematics are assigned. The inverse kinematics of the manipulator is defined, and the slave of manipulator is coupled with master by the manipulator's specification. Also, the virtual workcell is implemented in the graphical environment which is the same as the real environment. This graphic simulator of manipulator can be effectively used in designing of the maintenance processes for the hot cell equipment and enhance the reliability of the spent fuel management.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.235-241
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• 2016

Dual arm manipulators have been developed for the entertainment purpose such as humanoid type or the industrial application such as automatic assembly. Nowadays, there are some issues for applying the dual arm robot system into the various fields. Especially, robots can substitute human and perform the dangerous activity such as search and rescue in the battle field or disaster. In the paper, the dual arm manipulator which can be adapted to the rescue robot with the mobile platform was developed. The kinematic design was proposed for the rescue activity and the required specification was determined through the kinematic analysis and the dynamic analysis in the various conditions. The proposed dual arm manipulator was manufactured based on the vibration analysis result and its performance was proved by the experiment.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.460-470
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• 2011

This paper presents a dynamic workspace control method of underwater manipulator considering a floating ROV (Remotely Operated vehicle) motion caused by sea wave. This method is necessary for the underwater work required linear motion control of a manipulator's end-effector mounted on a floating ROV in undersea. In the proposed method, the motion of ROV is modeled as nonlinear first-order differential equation excluded dynamic elements. For online manipulator control achievement, we develop the position tracking method based on sensor data and EKF (Extended Kalman Filter) and the input velocity compensation method. The dynamic workspace control method is established by applying these methods to differential inverse kinematics solution. For verification of the proposed method, experimental data based test of ROV position tracking and simulation of the proposed control method are performed, which is based on the specification of the KORDI deep-sea ROV Hemire.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.8 no.5
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• pp.76-82
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• 1999

During operating given working a robot manipulator makes some problems such as the accumulation of the error or the deviation from the command trajectory. These problems are mainly due to the disturbance noise or unmodeled system parameters. To solve these problems most of robot manipulators equip the controller. But if exact controller gains are not seleced we can't decrease the working efficiency(such as compensation about error or deviation) of the robot manipulator. So in this paper we present the controller gain tuning law by which we can find the controller gain which satisfies the per-formance specification of the robot manipulator during working of the robot. The proposed algorithm is derived from the Laypunov direct method. And by the simulation on the 4-axis SCARA type robot(SAMSUNG SM5 Robot) we guarantee the performance of this algorithm.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1996.10a
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• pp.166-171
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• 1996

Generally, when we control the robot, we should calculate exactly Inverse Kinematics. However, Inverse Kinematics calculation is complex and it takes much time for the manipulator to control in real-time. Therefore, the calculation of Inverse Kinematics can result in significant control delay in real time. In this paper, we will present that Inverse Kinematics can be calculated through Fuzzy Logic Mapping, Based on an exact solution through fuzzy reasoning instead of Inverse Kinematics calculation Also, the result provides sufficient precision and transient tracking error can be controlled based on a fuzzy adaptive scheme proposed in this paper. Based on the Denavit-Hartenberg parameters specification, after the Jacobian matrix of arbitrary manipulator is calculated, we will construct Fuzzy Inverse Kinematics Mapping(FIKM) using fuzzy logic and represent a good control efficiency through simulation of 2-DOF manipulator.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.2
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• pp.226-234
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• 1998

The concept of dynamic tracking line is proposed as the feasible tracking region for a robot in a robot-conveyor system, which takes the conveyor speed into consideration. This paper presents an effective method to identify the dynamic tracking line in a robotic workcell. The maximum line speed of a robot is derived in an analytic form using the parameterized dynamics and kinematics of the manipulator, and some of its properties are established mathematically. The identification problem of the dynamic tracking line is then formulated as a root-solving problem for a single-variable equation, and solved by using a simple numerical technique. Finally, numerical examples are presented to demonstrate the methodology and its applications in workspace specification.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.8 s.227
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• pp.1093-1098
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• 2004

This paper presents a close-loop feedback control scheme, which can simultaneously satisfy multiple conflicting control performances, for a high speed positioning system driven by a brushless D.C. motor. With the dynamic model of the motor and proportional-plus-derivative feedback controllers selected as sample controllers, the convex combined feedback controller is formulated for implementing a direct-drive manipulator. Experimental results show that the developed multiple simultaneous specification(MSS) controller can meet desired control performances; maximum overshoot and rise time.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.9
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• pp.238-247
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• 2014

The milking robot system is very important to detect correctly the teats position in the moving condition of cow. Also, the robot manipulator must control tracking the teat cup to the detected teat position. The presented milking robot is designed using the one point laser sensor for teat position detection. The teats of cow are detected by the laser scanning unit and the manipulator has the function of 3 axes moving control unit. The presented teat detection method and the electrical driving manipulator have the advantages of a simple, low cost and very quiet. The designed manipulator is realized by the totally electrical motor and servo poison control algorithm with velocity PID compensation. The presented robot is realized using the teat detection unit, 4 teat cups, 3 axes robot arm, 6 servo motors and automatic milking control line. The designed robot is experimented in the cow farm and is satisfied with the designed performance specification for milking robot manipulator.