• International Journal of Control, Automation, and Systems
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• 제6권1호
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• pp.76-85
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• 2008

Motivated by the fact that in many industrial robots the joint velocity is estimated from position measurements, the trajectory tracking of robot manipulators with output feedback is addressed in this paper. The fact that robot actuators have limited power is also taken into account. Let us notice that few solutions for the torque-bounded output feedback tracking control problem have been proposed. In this paper we contribute to this subject by presenting a theoretical reexamination of a known controller, by using the theory of singularly perturbed systems. Motivated by this analysis, a redesign of that controller is introduced. As another contribution, we present an experimental evaluation in a two degrees-of-freedom revolute-joint direct-drive robot, confirming the practical feasibility of the proposed approach.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1994년도 추계학술대회 논문집 학회본부
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• pp.305-307
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• 1994

In this paper, the desist and the implementation of a robust adaptive controller for trajectory tracking control of the robot manipulator is presented. The proposed control scheme ensures that without any prior knowledge of the robot manipulator parameters, tracking errors are converged to some boundary in the presence of a state-dependent input disturbances as well as the ideal case. The 3 DOF robot manipulator including actuator dynamics is used for the implementation of the proposed control scheme. The experimental results show that the proposed control scheme is valid for trajectory tracking control of the robot manipulator.

• 한국정밀공학회지
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• 제16권1호통권94호
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• pp.200-209
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• 1999

This paper presents a precise tracking control scheme for the proposed parallel robot using artificial neural network. This control scheme is composed of three feedback controllers and one feedforward controller. Conventional PD controller and artificial neural network are used as feedback and feedforward controller respectively. A backpropagation learning strategy is applied to the training of artificial neural network, and PD controller outputs are used as target outputs. The PD controllers are designed at the robot dynamics based on inter-relationship between active joints and moving platform. Feedback controllers insure the total stability of system, and feedforward controller generates the control signal for trajectory tracking. The precise tracking performance of proposed control scheme is proved by computer simulation.

• 제어로봇시스템학회논문지
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• 제8권11호
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• pp.954-962
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• 2002

In a park or street, we can see many people jogging or walking with their dogs tracking their masters. In this study, an entertainment robot that imitates a dog's behavior is created. The robot's task is tracking a moving target that is recognized as the master. In order to design the robot, the ecological approach. in which the robot's goals and surroundings heavily influence its design, is used. A three-wheel type locomotion system is designed as the robot's physical structure which can follow a human jogging in outdoor space like a park. A sensor system which can detect the position of a master for the robot in the outdoor space, is developed. This sensor system consists of a signal transmitter which is at the hand of a master and some sensors which are mounted on the robot. The transmitter emits RF(radio frequency) and ultrasonic signals and the sensors detect the direction and distance from the robot to the transmitter by using the received signals. For the control architecture of the robot, a purely reactive behavior-based method is used in order to increase speed of response. The developed robot is evaluated through experiments conducted in indoor and outdoor environments.

• 한국생산제조학회지
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• 제23권5호
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• pp.485-497
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• 2014

This paper presents the robot vision control schemes based on the Newton-Raphson (N-R) and the Extended Kalman Filter (EKF) methods for the tracking of moving targets. The vision system model used in this study involves the six camera parameters. The difference is that refers to the uncertainty of the camera's orientation and focal length, and refers to the unknown relative position between the camera and the robot. Both N-R and EKF methods are employed towards the estimation of the six camera parameters. Based on the these six parameters estimated using three cameras, the robot's joint angles are computed with respect to the moving targets, using both N-R and EKF methods. The two robot vision control schemes are tested by tracking the moving target experimentally. Given the experimental results, the two robot control schemes are compared in order to evaluate their strengths and weaknesses.

• 한국정보통신학회논문지
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• 제5권1호
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• pp.144-149
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• 2001

산업현장의 열악한 작업중의 하나인 용접작업을 자동화하기 위한 방법으로 본 논문은 비접촉식 센서인 Fiber Sensor를 이용하여 용접선을 1차적으로 추적하고, 추적한 데이터를 텍스트 파일로 저장함과 통시에 2차적으로 추적한 용접선을 X-Y 로봇의 좌표값으로 다시 출력하여 용접을 하도록 하고 있다. Fiber Sensor를 통하여 읽어 들인 데이터는 Delphi Version 3.0을 이용하여 만들어진 프로그램을 통하여 처리하였고, I/O 입출력은 16 채널의 Relay Actuator 출력과 16 채널의 opto-isolated 입력이 가능한 PC의 ISA슬롯에 직접 삽입하여 사용하는 카드를 통해서 이루어졌다. 본 실험에서 용접선 추적은 직선, 기울기를 가진 직선 및 곡선에 관하여 추적을 행하였고, 추적한 데이터를 토대로 인버터 $CO_2$ 용접기를 사용하여 용접을 행하여 보았다.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2000년도 추계종합학술대회
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• pp.558-561
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• 2000

산업 현장의 열악한 작업중의 하나인 용접작업을 자동화하기 위한 방법으로 본 논문은 비접촉식 센서인 Fiber Sensor를 이용하여 용접선을 1차적으로 추적하고, 추적한 데이터를 텍스트 파일로 저장함과 동시에 2차적으로 추적한 용접선을 X-Y 로봇의 좌표값으로 다시 출력하여 용접을 하도록 하고 있다 Fiber Sensor를 통하여 읽어 들인 데이터는 Delphi Version 3.0을 이용하여 만들어진 프로그램을 통하여 처리하였고, I/O 입출력은 16 채널의 Relay Actuator 출력과 16 채널의 opto-isolated 입력이 가능한 PC의 ISA 슬롯에 직접 삽입하여 사용하는 카드를 통해서 이루어졌다. 본 실험에서 용접선 추적은 직선, 기울기를 가진 직선 및 곡선에 관하여 추적을 행하였고, 추적한 데이터를 토대로 인버터 CO2용접기를 사용하여 용접을 행하여 보았다.

• 제어로봇시스템학회논문지
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• 제13권2호
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• pp.140-146
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• 2007

This paper demonstrates the development of a mobile robot for patrol. We fuse differential GPS, angle sensor and odometry data using the framework of extended Kalman filter to localize a mobile robot in outdoor environments. An important feature of road environment is the existence of curbs. So, we also propose an algorithm to find out the position of curbs from laser range finder data using Hough transform. The mobile robot builds the map of the curbs of roads and the map is used fur tracking and localization. The patrol robot system consists of a mobile robot and a control station. The mobile robot sends the image data from a camera to the control station. The remote control station receives and displays the image data. Also, the patrol robot system can be used in two modes, teleoperated or autonomous. In teleoperated mode, the teleoperator commands the mobile robot based on the image data. On the other hand, in autonomous mode, the mobile robot has to autonomously track the predefined waypoints. So, we have designed a path tracking controller to track the path. We have been able to confirm that the proposed algorithms show proper performances in outdoor environment through experiments in the road.

• 로봇학회논문지
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• 제15권3호
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• pp.277-285
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• 2020

A differential drive wheeled robot is a kind of mobile robot suitable for indoor navigation. Model predictive control is an optimal control technique with various advantages and can achieve excellent performance. One of the main advantages of model predictive control is that it can easily handle constraints. Therefore, it deals with realistic constraints of the mobile robot and achieves admirable performance for trajectory tracking. In addition, the intention of the robot can be properly realized by adjusting the weight of the cost function component. This control technique is applied to the local planner of the navigation component so that the mobile robot can operate in real environment. Using the Robot Operating System (ROS), which has transcendent advantages in robot development, we have ensured that the algorithm works in the simulation and real experiment.

• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.998-1004
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• 2008

In this paper, a visual servoing control technique of humanoid robot arms is implemented for tracking a moving object. An embedded time-delayed controller is designed on an FPGA(Programmable field gate array) chip and implemented to control humanoid robot arms. The position of the moving object is detected by a stereo vision camera and converted to joint commands through the inverse kinematics. Then the robot arm performs visual servoing control to track a moving object in real time fashion. Experimental studies are conducted and results demonstrate the feasibility of the visual feedback control method for a moving object tracking task by the humanoid robot arms called the ROBOKER.