• 한국조명전기설비학회지:조명전기설비
• /
• 제5권4호
• /
• pp.15-20
• /
• 1991

본 연구는 공장자동화에 이용되는 산업용 로보트의 분산 적응 제어기법을 고찰한 것이다. 이 제어기법은 매니풀레이터가 원하는 경로를 따라 진행할 때 부하의 변동에 신속히 대응할 수 있도록 함으로서 실시간 제어가 가능하게 하는 것이다. 제어방식은 전체 시스템을 규모가 작은 여러 개의 부시스템으로 분리하고, 각 부시스템을 공칭제어기와 적응제어기로 제어하는 것이다. 이 제안한 기법을 컴퓨터 시뮬레이션한 결과 매니풀레이터 동력학이 비선형이며 부하변동이 있을 때에도 원하는 궤적에 양호하게 추종함을 알 수 있었다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.65-68
• /
• 1996

Robotic manipulators have become increasingly important in the field of flexible automation. High speed and high-precision trajectory tracking are indispensable capabilities for their versatile application. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. This paper presents a new approach to the design of neural control system using digital signal processors in order to improve the precision and robustness. The TMS32OC31 is used in implementing real time neural control to provide an enhanced motion control for robotic manipulators. In this control scheme, the networks introduced are neural nets with dynamic neurons, whose dynamics are distributed over all the, network nodes. The nets are trained by the distributed dynamic back propagation algorithm. The proposed neural network control scheme is simple in structure, fast in computation, and suitable for implementation of real-time, control. Performance of the neural controller is illustrated by simulation and experimental results for a SCARA robot.

• 한국해양공학회지
• /
• 제3권2호
• /
• pp.559-559
• /
• 1989

This paper deals with the robust controller design of robot manipulator to track a desired trajectory in spite of the presence of unmodelled dynamics in cause of nonlinearity and parameter uncertainty. The approach follwed in this paper is based on model reference adaptive control technique and convergence on hyperstability theory but it does away with the assumption that process is characterized by a linear model remaining time invariant during adaptation process. The performance of controller is demonstrated by computed simulation about position and speed control of six link manipulator in case of disturbance and payload variation.

• 한국해양공학회지
• /
• 제3권2호
• /
• pp.59-69
• /
• 1989

This paper deals with the robust controller design of robot manipulator to track a desired trajectory in spite of the presence of unmodelled dynamics in cause of nonlinearity and parameter uncertainty. The approach follwed in this paper is based on model reference adaptive control technique and convergence on hyperstability theory but it does away with the assumption that process is characterized by a linear model remaining time invariant during adaptation process. The performance of controller is demonstrated by computed simulation about position and speed control of six link manipulator in case of disturbance and payload variation.

• ETRI Journal
• /
• 제20권1호
• /
• pp.46-54
• /
• 1998

An analysis method of electromagnetic scattering from periodic patch array of double-dipole elements on a grounded dielectric substrate in case of oblique incident and arbitrary polarization is considered. The basis functions are chosen to be entire consinusoidal functions are chosen to be entire consinusoidal functions covering the rectangular shaped domain in which the original dipoles are inscribed, unlike the conventional method in which basis functions are defined only for the conducting element region. To confirm the validity of the proposed analysis method, we calculate the normalized scattered power for two propagating modes and compare the results with those obtained by the previous numerical method for the double dipole elements of rectangular type and parallelogram type which have the property of frequency scanned reflection and polarizer. Good correspondence has been observed between them. Some numerical results such as variation of power and axial ratio of first-order diffracted wave by a periodic array of double-dipole elements are compared with previous results.

• 한국공작기계학회:학술대회논문집
• /
• 한국공작기계학회 2003년도 추계학술대회
• /
• pp.186-194
• /
• 2003

This paper proposes a combined controller frame of the adaptive robust control(ARC) and the sliding mode control(SMC) for the trajectory tracking control of the excavator to preserve the advantages of the both methods while overcoming their drawbacks, namely, asymptotic stability of adaptive system fir parametric uncertainties and guaranteed transient performance of sliding mode control for both parametric uncertainties and external disturbance. The suggested control technique is applied for the tracking of a straight-line motion of end-effector of manipulators, and through computer simulations, its trajectory tracking performances and the robustness to payload variation and uncertainties are illustrated.

• 한국정밀공학회지
• /
• 제6권4호
• /
• pp.108-118
• /
• 1989

An adaptive control scheme has been recognized as an effective approach for a robot manipulator to track a desired trajectory in spite of the presence of nonliearity and parameter uncertainty in robot dynamics model. In this paper, an adaptive control scheme for a robot manipulator is proposed to design robust controller using model reference adaptive control technique and hyperstability theory but it does away with] assumption that the process is characterized by a linear model remaining time invariant during the adaptation process. The performance of controller is demonstrated by the simulation about position and speed control of a six-link manipulator with disturbance and payload variation.

• 제어로봇시스템학회논문지
• /
• 제10권1호
• /
• pp.22-29
• /
• 2004

This paper studies the coordinated trajectory control of an excavator as a kind of robotic manipulators driven by hydraulic actuators. Hydraulic robot system has many non-linearity in dynamics and kinematics, and strong coupling among joints(or hydraulic cylinders). This paper proposes a combined controller frame of the adaptive robust control(ARC) and the sliding mode control(SMC) for the trajectory tracking control of the excavator to preserve the advantages of the both methods while overcoming their drawbacks, namely, asymptotic stability of adaptive system for parametric uncertainties and guaranteed transient performance of sliding mode control for both parametric uncertainties and external disturbance. The suggested control technique is applied for the tracking of a straight-line motion of end-effector of manipulators, and through computer simulations, its trajectory tracking performances and the robustness to payload variation and uncertainties are illustrated.

• 한국조명전기설비학회지:조명전기설비
• /
• 제5권1호
• /
• pp.57-64
• /
• 1991

본 연구는 공장자동화에 이용되는 산업용 로봇의 분산 적응 제어기법을 고찰한 것이다. 이 제어기법은 메니폴레이터가 원하는 경로를 따라 진행할 때 부하의 변동에 신속히 대응할 수 있도록 함으로서 실시간 제어가 가능하게 하는 것이다. 제어방식은 전체 시스템을 규모가 작은 여러개의 부시스템으로 분리하고, 각 부시스템을 공칭제어기와 적응제어기로 제어하는 것이다. 이 제안한 기법을 컴퓨토 시뮬레이션한 결과 매니풀레이터 동력학이 비선형이며 부하변동이 있을 때에도 원하는 궤적에 양호하게 추종함을 알 수 있었다.

• 한국생산제조학회지
• /
• 제21권1호
• /
• pp.109-115
• /
• 2012

In this paper, we consider the sway suppression control problem for container cranes with load hoisting. The proposed control law improves the positioning accuracy but also the sway suppression through fast stabilization of the under-actuated sway dynamics, which is based on a class of feedback linearizing control incorporated with an additional control including the sway angle and its rate as well as positioning errors and their rates. For the design of the additional control, a variable structure control with the proper sway damping and simple switching action is employed, thus preventing excessive overshoots of the trolley travelljng and effectively suppressing the residual sway of container arrived at the target position. Simulation results are provided to show effectiveness of the proposed controller in the presence of such uncertainties as winds and the variation of payload weights.