• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 1996.03a
• /
• pp.79-84
• /
• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C31) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.5 no.4
• /
• pp.26-37
• /
• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller. feedback controller. and PID type time-varying auxiliary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require a an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.29B no.3
• /
• pp.25-34
• /
• 1992

This paper proposes a Self-Tuning control algorithm for tracking the reference trajectory by measuring the end-point of robot manipulator whose links are light and flexible, and the performance of it is tested through the computer simulation. As an object of system, a flexible robot manipulator with two-links is considered and an assumed mode shape method including gravity force is adopted to analyze the vibration modes for each links and dynamics equation is derived. The controller is designed as a combined form which consists of dynamic feedforward compensator and self-tuning feedback controller. The one supplies nominal torque and the other supplies variational torque to manipulator. Apart from the, K-incremental predictor is also proposed in order to eliminate the offset error. and it shows that the result of simulation adapted well to load change and rapid velocity.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.60 no.11
• /
• pp.2139-2146
• /
• 2011

In this paper, a robust adaptive controller is proposed for trajectory tracking of robot manipulators with the unknown friction coefficient and bounded disturbance. A new adaptive control law is developed based on sliding mode and derived from the Lyapunov stability analysis. The introduction of a boundary layer solves the problem of chattering. The proposed adaptive controller is globally asymptotically stable and guarantees zero steady state error for joint positions. The estimated friction coefficients can also approach the actual coefficients asymptotically. A simulation example is provided to demonstrate the performance of the proposed algorithm.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.60 no.2
• /
• pp.389-397
• /
• 2011

The global dynamic window approach (DWA) is widely used to generate the shortest path of mobile robots considering obstacles and kinematic constraints. However, the dynamic constraints of robots should be considered to generate the minimum-time path. We propose a modified global DWA considering the dynamic constraints of robots. The reference path is generated using A* algorithm and smoothed by cardinal spline function. The trajectory is then generated to follows the reference path in the minimum time considering the robot dynamics. Finally, the local path is generated using the dynamic window which includes additional terms of speed and orientation. Simulation and experimental results are presented to verify the performance of the proposed method.

• Proceedings of the KIEE Conference
• /
• 2003.11c
• /
• pp.456-459
• /
• 2003

This paper deal with the biped walking stability by inverted pendulum type balancing joints. This model is hard to interpretation for the nonlinearity caused by upper direction movement then conventional model which have roll and prismatic joints. We can interpret this model by a linear approximation or interpolation method. This paper use a linear approximation method that can decide a movement of upper direction. Inverted pendulum type balancing joints have a advantage of less movement for keep stability and similar with human than conventional model and this model can be used for humanoid robot. We can see a stability of biped by ZMP(Zero Moment Point). Genetic algorithm is used for trajectory planning that is important for stable walking of biped.

• Journal of Advanced Marine Engineering and Technology
• /
• v.18 no.4
• /
• pp.25-32
• /
• 1994

This paper presents a robust impedance controller design to coordinate a robot manipulator under system uncertainties while regulating external forces. By an impedance approach, the relationship between the motion and external forces is defined. Due to the system uncertainties, two kind of sliding mode control schemes based on the impedance approach are derived to ensure that the manipulator end-effector follows a desired trajectory and the force applied to end effector is regulated according to a target impendance. A stability condition is shown according to a sliding condition. To evaluate the devised control scheme, a numerical example is shown.

• The Journal of Korea Robotics Society
• /
• v.18 no.3
• /
• pp.352-357
• /
• 2023

Since robotic assembly in an unstructured environment is very difficult with existing control methods, studies using artificial intelligence such as reinforcement learning have been conducted. However, since long-time operation of a robot for learning in the real environment adversely affects the robot, so a method to shorten the learning time is needed. To this end, a method based on a pre-trained neural network was proposed in this study. This method showed a learning speed about 3 times than the existing methods, and the stability of reward during learning was also increased. Furthermore, it can generate a more optimal policy than not using a pre-trained neural network. Using the proposed reinforcement learning-based assembly trajectory generator, 100 attempts were made to assemble the power connector within a random error of 4.53 mm in width and 3.13 mm in length, resulting in 100 successes.

• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.29B no.11
• /
• pp.31-35
• /
• 1992

This paper presents a decentralized adaptive controller design for a robot manipulator to track the given desired trajectory in the joint space. The controller is of distributed structure and does not require the complex manipulator dynamic model, thereby it is computationally very efficient. Each joint is independently controlled by a PID feedback part and a velocity-acceleration feedforward part. Simulation results for a two-link direct drive manipulator conform that the proposed decentralized scheme is feasible.

• Proceedings of the KIEE Conference
• /
• 1991.07a
• /
• pp.759-762
• /
• 1991

In this paper an algorithm is presented which serves for collision avoidance between robots with working space. The method is based on the concept of a hierarchical coordinator and permits an on-line application. Computing possible collision points a collision_free trajectory for the robot with no right_of_way precedence is generated. The computations are based on the states of the robots concerned including their practicable accelerations and velocities.