• Journal of Institute of Control, Robotics and Systems
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• v.22 no.5
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• pp.374-381
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• 2016

The sealing technique is widely used for repairing the cracks on the surface of concrete and preventing their expansion in the future. However, it is difficult to ensure the safety of the workers when sealing large structures in inconvenient working environments. This paper presents the development of a sealing robot system to seal various shapes of concrete surface in rough conditions for a long time. If the robot can maintain the desired contact force, the cracks can be completely sealed. An impedance force tracking controller with slope estimator is proposed to calculate the surface slope in real time using the robot position. It predicts the next point in order to prevent the robot from disengaging from the contact surface owing to quick slope changes. The proposed method has been verified by experimental results.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.496-499
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• 1997

Field robot represented by excavator can be applied for various kinds of working in manufacturing, construction, agriculture etc. because of the flexibility of its multi-joint mechanism and the high power of hydraulic actuators. In general, the dynamics of field robot have strong coupling, various kinds of non-linearity, and time-varying parameters according to working conditions. Therefore, it is very difficult to describe the system well, and design controller systematically based on its model. This paper established the mathematical model of field robot driven by electro-hydraulic servomechanism and constructed the adaptive control system robust to external load variations. The proposed control system for the field robot was evaluated by the computer simulation and the performance results of trajectory tracking were compared with that of PID control system.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.11
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• pp.1265-1271
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• 2011

These days the number of aged and disabled people is increasing rapidly. But most of the disabled or the aged who have the ability to work, want to engage in economic activities and solve social restrictions as well as their bad financial conditions. This paper concerns about the tracking control of an electric wheelchair robot for welfare vehicle where the seat and electric wheelchair are separated and electric wheelchair robot must be autonomously controlled without the help of assistant. So the aged or the disabled people can drive welfare vehicle by himself by adopting this system. Therefore the concept of both an autonomous driving of electric wheelchair and path tracking robots is required in this system. Finally we suggested fuzzy controller in order to control the path tracking of electric wheelchair robot and compared the capability of the proposed controller with conventional PID controller.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.43 no.3
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• pp.485-492
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• 1994

Trajectory tracking control porblems are described for a two-link robot manipulator with artificial rubber muscle actuators. Under the assumption that the so-called independent joint control is applied to the control system, the dynamic model for each link is identified as a linear second-order system with time-lag by the step response. Two control laws such as the feedforward and the computed torque control methods, are experimentally applied for controlling the circular trajectory of an actual robot mainpulator.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2003.10a
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• pp.207-212
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• 2003

This paper proposed trajectory tracking control of Mobile Robot. Trajectory tracking control scheme are Real coding Genetic-Algorithm and Back-propergation Algorithm. Control scheme ability experience proposed simulation.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2004.10a
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• pp.181-186
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• 2004

This paper proposed trajectory tracking control of Mobile Robot. Trajectory tracking control scheme are Real coding Genetic-Algorithm and Back-propergation Algorithm. Control scheme ability experience proposed simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.902-911
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• 2012

This paper proposes a robust adaptive fuzzy backstepping control scheme for trajectory tracking of an electrically driven nonholonomic mobile robot with uncertainties and actuator dynamics. A complete model of an electrically driven nonholonomic mobile robot described in this work includes all models of the uncertain robot kinematics with a nonholonomic constraint, the uncertain robot body dynamics with uncertain frictions and unmodeled disturbances, and the uncertain actuator dynamics with disturbances. The proposed control scheme uses the backstepping control approach through a kinematic controller and a robust adaptive fuzzy velocity tracking controller. The presented control scheme has a voltage control input with an auxiliary current control input rather than a torque control input. It has two FBFNs(Fuzzy Basis Function Networks) to approximate two unknown nonlinear robot dynamic functions and a robust adaptive control input with the proposed adaptive laws to overcome the uncertainties such as parameter uncertainties and external disturbances. The proposed control scheme does not a priori require the accurate knowledge of all parameters in the robot kinematics, robot dynamics and actuator dynamics. It can also alleviate the chattering of the control input. Using the Lyapunov stability theory, the stability of the closed-loop robot control system is guaranteed. Simulation results show the validity and robustness of the proposed control scheme.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.5
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• pp.636-643
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• 1998

This paper is presents multivariable control scheme for industrial robot manipulators. The control scheme consists of two loops. The modeling error between linearized robot model and actual robot model is compensated in error compensation loop. The PID control loop is designed for pole assignment to stability of robot system and utilized for trajectory tracking. Alternatively computer simulation results are given for illustration purpose of suggested controller.

• Proceedings of the KIEE Conference
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• 1999.07g
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• pp.3083-3085
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• 1999

This paper presents an algorithm that the mobile robot track accurately a moving object with information from a CCD camera mounted on mobile robot. Singular Value Decomposition is adapted to remove the measurement noise of a Raw data of CCD. The mobile robot estimate the trajectory using Kalman filter and track the path of a moving object with a servo motor. Computer simulation results are showed that the efficient tracking system for the mobile robot is designed properly.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.4
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• pp.338-344
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• 2002

In this paper, neural network force tracking control is proposed. The conventional impedance function is reformulated to have direct farce tracking capability. Neural network is used to compensate for all the uncertainties such as unknown robot dynamics, unknown environment stiffness, and unknown environment position. On line training signal of farce error for neural network is formulated. A large x-y table is built as a test-bed and neural network loaming algorithm is implemented on a DSP board mounted in a PC. Experimental studies of farce tracking on unknown environment for x-y table robot are presented to confirm the performance of the proposed technique.