• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.427-431
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• 1996

A modeling of the dynamics of two cooperating robot manipulators doing assembly job such as peg-in-hole while coordinating the payload along the desired path is proposed. The system is uncertain due to the unknown mass and moment of inertia of the manipulators and the payload. To control the system, a robust control algorithm is proposed. The control algorithm includes fuzzylogic. By the fuzzy logic, the magnitude of the input torque of the manipulators is controlled not to go over the hardware saturation with keeping path tracking errors bounded.

• IEIE Transactions on Smart Processing and Computing
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• v.5 no.6
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• pp.375-382
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• 2016

This paper realizes control of the motion of a swimming robot fish in order to implement an underwater robot fish aquarium. And it implements positional control of a two-axis trajectory path of the robot fish in the aquarium. The performance of the robot was verified though certified field tests. It provided excellent performance in driving force, durability, and water resistance in experimental results. It can control robot motion, that is, it recognizes an object by using an optical flow object-detecting algorithm, which uses a video camera rather than image-detecting sensors inside the robot fish. It is possible to find the robot's position and control the motion of the robot fish using a radio frequency (RF) modem controlled via personal computer. This paper proposes realization of robot fish motion-tracking control using the optical flow object-detecting algorithm. It was verified via performance tests of lead-lag action control of robot fish in the aquarium.

• Journal of the Korea Institute of Military Science and Technology
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• v.21 no.2
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• pp.204-210
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• 2018

As the 4th industrial revolution and artificial intelligence technology develop, it is expected that there will be a revolutionary changes in the security robot. However, artificial intelligence system requires enormous hardwares for tremendous computing loads, and there are many challenges that need to be addressed more technologically. This paper introduces precise tracking control technique of autonomous system that need to move repetitive paths for security purpose. The input feedforward signal is generated by using the inverse based iterative learning control theory for the 2 input 2 output nonminimum-phase system which was difficult to overcome by the conventional feedback control system. The simulation results of the input signal generation and precision tracking of given path corresponding to the repetition rate of extreme, such as bandwidth of the system, shows the efficacy of suggested techniques and possibility to be used in military security purposes.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.307-310
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• 2001

Mobile AGV is one of the nonholon-omic systems. The integration of the kinematic adaptive controller for the dynamic in this pa-per introduction a motion control problem's dynamic state feedback as well as output feedback tracking laws will be constructed with the adaptive extension of the controller is proposed. Feedback control strategies for mobile AGV are important to compensate for disturabances and errors in the initial condition. The problems of path following or tracking and of stabilization about a constant configuration have been treated as separate problems for nonholonomic mobile AGV.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.11 no.1
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• pp.49-53
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• 2011

Path following of the mobile robot is one research hot for the mobile robot navigation. For the control system of the wheeled mobile robot(WMR) being in nonhonolomic system and the complex relations among the control parameters, it is difficult to solve the problem based on traditional mathematics model. In this paper, we presents a simple and effective way of implementing an adaptive following controller based on the PID for mobile robot path following. The method uses a non-linear model of mobile robot kinematics and thus allows an accurate prediction of the future trajectories. The proposed controller has a parallel structure that consists of PID controller with a fixed gain. The control law is constructed on the basis of Lyapunov stability theory. Computer simulation for a differentially driven nonholonomic mobile robot is carried out in the velocity and orientation tracking control of the nonholonomic WMR. The simulation results of wheel type mobile robot platform are given to show the effectiveness of the proposed algorithm.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.84-86
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• 2001

A new navigation method is developed and implemented for mobile robot. The mobile robot navigation problem has traditionally been decomposed into the path planning and path following. Unlike tracking-based system, which minimize intercept time and moved mobile robot distance for optimal rendezvous point selection. To research of random moving object uses algorithm of Adaptive Control using Auto-regressive Model. A fine motion tracking object's trajectory is predicted of Auto-regressive Algorithm. Thus, the mobile robot can travel faster than the target wi thin the robot's workspace. The can select optimal rendezvous point of various intercept time.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.119.1-119
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• 2002

$\textbullet$ Introduction: Service robot $\textbullet$ Design of the Guide Service Mobile Robot $\textbullet$ Path tracking algorithm $\textbullet$ Path recognition algorithm $\textbullet$ Localization $\textbullet$ Guide lever $\textbullet$ Conclusions: A mobile robot was developed as a service robot

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.1
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• pp.45-55
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• 1998

In this paper, a robust path tracker and depth controller of Autonomous Underwater Vehicle based on sliding mode control is presented. We have also designed augmented equivalent control inputs by analyzing the sliding mode with the reaching mode. This can enhance the reaching rate, and improve chattering problems, that is, noise caused by the control plane actuator of the vehicle, which is one of the problems that occur when sliding mode control is used. Also to resolve the steady state error generated in the path tracker under current effect, a modified sliding plane is constructed. Also a redesigned sliding plane and control input using transformation matrix is proposed to do easy design of MIMO depth controller. For state variables that cannot be measured directly, reduced order sliding mode control is used to design an observer. The performance of designed path tracker and depth controller is investigated by computer simulation. The results show that the proposed control system has robust performance to parameter variation, modelling error and disturbance.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.10
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• pp.939-947
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• 2010

With the rising numbers of elderly and disabled people, the demand for welfare services using a robotic system and not involving human effort is likewise increasing. This study deals with a mobile-robot system combined with a BWS (Body Weight Support) system for gait rehabilitation. The BWS system is designed via the kinematic analysis of the robot's body-lifting characteristics and of the walking guide system that controls the total rehabilitation system integrated in the mobile robot. This mobile platform is operated by utilizing the AGV (Autonomous Guided Vehicle) driving algorithm. Especially, the method that integrates geometric path tracking and obstacle avoidance for a nonholonomic mobile robot is applied so that the system can be operated in an area where the elderly users are expected to be situated, such as in a public hospital or a rehabilitation center. The mobile robot follows the path by moving through the turning radius supplied by the pure-pursuit method which is one of the existing geometric path-tracking methods. The effectiveness of the proposed method is verified through the real experiments those are conducted for path tracking with static- and dynamic-obstacle avoidance. Finally, through the EMG (Electromyography) signal measurement of the subject, the performance of the proposed system in a real operation condition is evaluated.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.2
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• pp.265-276
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• 2017

In this paper, a robust and more accurate trajectory tracking control method for a mobile robot is proposed using WIPDC(Weighted Integral Parallel Distributed Compensation) and T-S Fuzzy disturbance observer. WIPDC reduces the steady state error by adding weighted integral term to PDC. And, T-S Fuzzy disturbance observer makes it possible to estimate and cancel disturbances for a T-S fuzzy model system. As a result, the trajectory tracking controller based on T-S Fuzzy disturbance observer shows robust tracking performance. When the initial postures of a mobile robot and the reference trajectory are different, the initial control inputs to the mobile robot become too large to apply them practically. In this study, also, the problem is solved by designing an initial approach path using a path planning method which employs $B\acute{e}zier$ curve with acceleration limits. Performances of the proposed method are proved from the simulation results.