• 대한기계학회논문집A
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• 제36권11호
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• pp.1353-1360
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• 2012

병렬로봇의 구동을 계산하기 위해서 자코비안과 특이점 해석이 필요하다. 기존의 자코비안을 구하는 미분의 방식은 그 계산과정이 복잡하고 기하학적인 의미도 찾기 어렵다. 본 논문에서는 스크류 이론을 사용하여 병렬로봇의 자코비안을 쉽게 구하고 그것의 기하학적인 의미도 구하였다. 뿐만 아니라 특이점도 간단한 형태로 식을 구성할 수 있으며 기하학적인 의미도 가진다. 또한, 스크류 이론의 적용이 5 링크와 같이 간단한 형태의 비 여유구동 로봇뿐만 아니라 다양한 형태의 평면형 여유구동 병렬로봇에도 적용 가능하다는 것을 본 논문에서 제시하였다.

• Journal of Electrical Engineering and Technology
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• 제12권2호
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• pp.926-936
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• 2017

The nonlinear behavior and the high performance requirement are the main problems that appear in the design of manipulator robots and their controllers. For that reason, the simulation, real-time execution and comparison of the performance of controllers applied to a robot with three degrees of freedom are presented. Five controllers are prepared to test the robot's dynamic model: predictive; hyperbolic sine-cosine; sliding mode; hybrid composed of a predictive + hyperbolic sine-cosine controller; and adaptive controller. A redundant robot, a communication and signal conditioning interface, and a simulator are developed by means of the MatLab/Simulink software, which allows analyzing the dynamic performance of the robot and of the designed controllers. The manipulator robot is made to follow a test trajectory which, thanks to the proposed controllers, it can do. The results of the performance of this manipulator and of its controllers, for each of the three joints, are compared by means of RMS indices, considering joint errors according to the imposed trajectory and to the controller used.

• Industrial Engineering and Management Systems
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• 제3권1호
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• pp.78-84
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• 2004

To optimize movement of a multi-joint robot arm is known to be a difficult problem, because it is a kind of redundant system. Although the end-effector is set its position by each angle of the joints, the angle of each joint cannot be uniquely determined by the position of the end-effector. There exist the infinite number of different sets of joint angles which represent the same position of the end-effector. This paper describes how to manage the angle of each joint to move its end-effector preferably on an X-Y plane with obstacles in the end-effector’s reachable area, and how to optimize the movement of a multi-joint robot arm, evading obstacles. The definition of “preferable” movement depends upon a purpose of robot operation. First, we divide viewpoints of preference into two, 1) the standpoint of the end-effector, and 2) the standpoint of joints. Then, we define multiple objective functions, and formulate it into a multi-objective programming problem. Finally, we solve it using multi-purpose genetic algorithm, and obtain reasonable results. The method described here is possible to add appropriate objective function if necessary for the purpose.

• 제어로봇시스템학회논문지
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• 제5권8호
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• pp.955-960
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• 1999

This paper describes the effect of impact configurations on a single robot manipulator. The effect of different configurations of kinematically redundant arms on impact forces at their end effectors during contact with the environment is investigated. Instead of the well-known impact ellipsoid, I propose an analytic method on the geometric configuration of the impact directly from the mathematical definition. By calculating the length along the specified motion direction and volume of the geometry, we can determine the characteristics of robot configurations in terms of both the impact along the specified direction and the ability of the robot withstanding the impact. Simulations of various impact configurations are discussed at the end of this paper.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.176.1-176
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• 2001

Conventional researches almost have been focused on the one dimensional inverted pendulum. Recently, Sprenger et al[2] have researched a two dimensional inverted pendulum Observing human's action to control an inverted pendulum, one can recognize that human uses a three dimensional metier including the up and down motion. In this paper, we propose a fuzzy logic controller(FLC) of a new three dimensional inverted pendulum system. We derive a dynamic equation of the mechanism including a 3-axis cartesian robot and a inverted pendulum. We propose a design method of a fuzzy controller of the yaw and pitch angles of a inverted pendulum. In the design, the redundant degree-of-freedom(DOF) of the robot ...

• 대한기계학회논문집A
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• 제21권5호
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• pp.756-768
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• 1997

In order to control a dynamic gait of quadrupedal walking robot, the equations of motion of the whole mechanism are required. In this research, the equations of motion are formulated analytically using Kane's dynamic approach. As a dynamic gait model, a trot gait has been adopted. The degree of freedom of whole mechanism could be reduced to 7 by idealizing the kinematic feature of the trot gait. Using the equations of motion formulated, the results of the redundant-joint torque analysis and the simulation of dynamic walking motion are presented.

• 대한기계학회논문집
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• 제16권11호
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• pp.2021-2032
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• 1992

본 연구에서는 이동 로보트의 구동모터들의 회전수를 측정하는 두 개의 엔코 더와 로보트의 회전각 속도를 측정하는 자이로센서를 결합하여 주행중인 로보트의 자 세를 정확하게 추정할 수 있는 복수센서 시스템의 신호처리회로 및 알고리즘을 개발하 고 자이로센서의 측정방정식을 모델링하기 위하여 성능시험을 수행하였다. 그리고 확률이론을 유도된 측정방정식에 적용하여 본 복수센서 시스템의 출력 신호들을 효율 적으로 융합할 수 있는 센서데이터 융합알고리즘을 개발하여 사용된 측정센서들에 내 재하는 측정오차의 영향을 최소로 줄이고자 하였다. 제안된 융합알고리즘의 타당성 을 검증하기 위하여 주행실험을 수행하여 이동 로보트의 실제자세와 본 융합알고리즘 의 결과를 비교하였다.

• 제어로봇시스템학회논문지
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• 제10권12호
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• pp.1217-1222
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• 2004

This paper describes the development of tele-robotic interface for the hot-line maintenance robot system. One of main issues in designing human-robot interface for the hot-line maintenance robot system is to plan the control procedure for each part of the robotic system. Another issue is that the actual degree of freedom (DOF) in the hot-line maintenance robot system is much greater than that of available control devices such as joysticks and gloves in the remote-cabin. For this purpose, a virtual simulator, which includes the virtual hot-line maintenance robot system and the environment, is developed in the 3D environment using CAD data. It is assumed that the control operation is done in the remote cabin and the overall work process is observed using the main-camera with 2 DOFs. For the input device, two joysticks, one pedal, two data gloves, and a Head Mounted Display (HMD) with tracker sensor were used. The interface is developed for each control mode. Designed human-interface system is operated using high-level control commands which are intuitive and easy to understand without any special training.

• 한국정밀공학회지
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• 제29권4호
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• pp.426-432
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• 2012

In this study, kinematic analysis of forward kinematic, inverse kinematic and jacobian for 6-bar parallel robot was analyzed. In order to analyze the maximum workspace of 6-bar parallel robot, maximum revolution range of active joint was calculated. Also, to analyze forward dynamics and inverse dynamics of 6-bar parallel robot, recurdyn and simmechanics was utilized. Using a PI controller and Feedforward controller make an experiment with square motion of end_effector. The reference value of active joint and trace of end_effector were compared with actual experimental value.

• 제어로봇시스템학회논문지
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• 제15권9호
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• pp.887-893
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• 2009

In this paper, a mask-panel alignment robot system is considered for IT industry applications. Two kinds of solutions are suggested which are required in constructing a control system for the alignment robot with actuation redundancy. First, the kinematic solution for the 4PPR parallel positioning mechanism is formulated for an arbitrary initial posture, which relates the mask-panel misalignment in the task space and the desired actuator displacements in the joint space. Secondly, in order to increase the stiffness of the control motion and also to avoid the mechanical lock which may happen due to the redundant actuation, a new synchronous control method is proposed which has the merit of coordinating joint control motions while not losing individual joint control performance. In addition, the engineering process to develop a visual alignment robot system is described with the results of experimental setup and GUI software. Finally, the experimental results demonstrate the effectiveness of the proposed alignment system control methodology and how much beneficial it will be in real industrial applications.