• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.691-694
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• 2000

In this paper, a motion control algorithm is proposed by using neural network system, which makes a robot arm successfully avoid unexpected obstacle when the robot is moving from the start to the goal position. During the motion, if there is an obstacle the vision system recognizes it. And in every time the optimization-algorithm quickly chooses a motion among the possible motions of robot. The proposed algorithm has a good avoidance characteristic in simulation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 제39회 하계학술대회
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• pp.1775-1776
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• 2008

This paper presents a adaptive fuzzy control suitable for motion control of multi-link robot manipulators with uncertainties. When joint velocities are available, full state adaptive fuzzy feedback control is designed to ensure the stability of the closed loop dynamic. If the joint velocities are not measurable, an observer is introduced and an adaptive output feedback control is designed based on the estimated velocities. To reduce the number of fuzzy rules of the fuzzy controller, we consider the properties of robot dynamics and the decomposition of the unknown input gain matrix. The proposed controller is robust against uncertainties and external disturbances. The validity of the control scheme is demonstrated by computer simulations on a two-link robot manipulator.

• 한국컴퓨터정보학회:학술대회논문집
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• 한국컴퓨터정보학회 2014년도 제50차 하계학술대회논문집 22권2호
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• pp.245-248
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• 2014

산업플랜트에는 고온 고압 배관 시스템을 갖춘 곳이 많으며, 이 배관 시스템의 건전성은 매우 중요하게 취급된다. 배관의 건전성 유지를 위해서는 일정 기간 동안 배관의 안정성 검사를 수행하게 되는데, 배관 시스템의 복잡성과 위험성으로 인한 검사자의 접근 자체가 매우 어려운 상황이 빈번하게 발생한다. 이를 해결하기 위하여 로봇 개술을 적용하는 연구개발이 지속되고 있는데 본 논문에서는 5축 대관절 매니퓰레이터 형태의 배관 등반이 가능한 반자동 원격 제어 로봇의 개발에 대하여 기술한다. 이 로봇의 구현을 위해서는 로봇의 배관 인지 기술, 로봇의 배관 그리핑 기술, 5축 관절의 제어 기술, 그리고 원격제어기술등이 요구된다.

• 한국지능시스템학회논문지
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• 제21권5호
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• pp.660-666
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• 2011

본 논문에서는 절 기구(bar linkage)형 다관절 보행로봇(multi-legged walking robot)의 최적다리 길이선정을 위하여 입자군집 최적화(PSO: Particle Swarm Optimization) 기법을 사용하였다. PSO 알고리즘을 적용하기 위해서 제안한 보행로봇의 기구학적인 해석이 필요하다. 게 로봇은 4절 링크 이론(four-bar linkage)과 얀센 메커니즘(Jansen mechanism)을 기반으로 설계되었다. 이러한 기구학적인 해석을 바탕으로 로봇의 보행보폭을 정의한다. 그리고 PSO의 학습 및 군집 특성을 이용하여 최대의 보행보폭을 가지는 10개(EA)의 링크(link)길이를 구한다. 시뮬레이션을 통해 각 링크의 위치와 다리 끝단의 보행보폭을 확인할 수 있다. 결과로서, PSO기법이 절 기구형 다관절 보행로봇의 최적다리 길이 선정에 효율적임을 보여 준다.

• 제어로봇시스템학회논문지
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• 제22권1호
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• pp.66-73
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• 2016

An Inertial Measurement Unit (IMU)-based Attitude and Heading Reference System (AHRS) can calculate attitude and heading information with long-term accuracy and stability by combining gyro, accelerometer, and magnetic compass signals. Motivated by this characteristic of the AHRS, this paper presents a Motion-Tracking and Localization (MTL) method for a person or walking robot using multi-AHRSs. Five AHRSs are attached to the two calves, two thighs, and waist of a person/walking robot. Joints, links, and coordinate frames are defined on the body. The outputs of the AHRSs are integrated with link data. In addition, a supporting foot is distinguished from a moving foot. With this information, the locations of the joints on the local coordinate frame are calculated. The experimental results show that the presented MTL method can track the motion of and localize a person/walking robot with long-term accuracy in an infra-less environment.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.323-326
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• 1997

Conventional robots actuated by motors with the speed reducer such as harmonic drive had weakness in delivering loads, pressing, grinding, and cutting jobs. To overcome this, the developer a new type of robot actuated by the ball screw. The robot is an articulated shape, which is composed of four axes. The base axis is actuated similarly with conventional robot, but the others are actuated by four bars mechanism composed of the ball screw. We setup the dynamics model of the robot. The robot has parameter uncertainties and nonlinearlity due to the ball screw actuator. To coordinate the robot, we applied sliding-mode control.

• 한국정밀공학회지
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• 제15권8호
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• pp.165-173
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• 1998

In this paper, a motion control algorithm is developed by using fuzzy control technique, which makes a robot arm avoid unexpected obstacles when the robot is moving from the start to a goal posture. During the motion, if there exist no obstacles the robot arm moves along the pre-defined path. But if some obstacles are recognized and close to the robot arm, a fuzzy controller is activated to adjust the path of the robot arm. To show the feasibility of the developed algorithm, numerical simulations and experiments are carried out. In the experiments, redundant planar robot arms are considered for the collision avoidance test, and it was proved that the developed algorithm gives good collision avoiding performance.

• 한국정밀공학회지
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• 제19권2호
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• pp.126-132
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• 2002

Robot manipulator has highly nonlinear dynamics. Therefore the control of multi-link robot arms is a challenging and difficult problem. In this paper an independent joint adaptive fuzzy sliding mode scheme is developed leer control of robot manipulators. The proposed scheme does not require an accurate manipulator dynamic model, yet it guarantees asymptotic trajectory tracking despite gross robot parameter variations. Numerical simulation for independent joint control of a 3-axis PUMA arm will also be included.

• 한국정밀공학회지
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• 제20권6호
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• pp.55-61
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• 2003

Control of multi-link robot arms is a challenging and difficult problem because of the highly nonlinear dynamics. Independent joint adaptive scheme is developed for control of robot manipulators based on Sugeno-type of fuzzy logic. Fuzzy logic system is used to approximate the coupling forces among the joints, coriolis force, centrifugal force, gravitational force, and frictional forces. The proposed scheme does not require an accurate manipulator dynamic, and it is proved that closed-loop system is asymptotic stable despite the gross robot parameter variations. Numerical simulations for three-axis PUMA robot are included to show the effectiveness of controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.83.1-83
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• 2001

This paper presents a three-fingered robot hand, called the KIST hand, Which have one active joint and one passive joint. The thumb is fixed on the palm, and the index and the middle take lateral motions symmetrically. A mechanical clutch and an embedded force sensor, attached on the distal link of the fingers, enable the KIST hand to perform human-like functions. A result of experiment shows reliable grasping performance of the hand which maintain stable grasp under disturbances.