• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국제학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.969-972
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• 1988

A conventional robotic manipulator is usually a very complicated system whose dynamics is too computationally time consuming for dynamic analysis and real time control. The authors have proposed the general design criteria of the robot links which greatly simplify the robot dynamic characteristics. In this paper these design guidelines are applied to a 6 degree of freedom PUMA 560 robot in order to realize actual implementation of the design concept. Based upon the design concept, the dynamic equations of the redesigned robot were derived. Dynamic characteristics of two systems, the ideally designed and conventional robot, are compared with respect to the joint input torque characteristics and degree of the coupling between the robot joints.

• 제어로봇시스템학회논문지
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• 제16권4호
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• pp.346-352
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• 2010

This paper presents an intuitive interface scheme for controlling a hydraulic backhoe, which is a piece of excavating equipment consisting of a digging bucket on the end of a two-part articulated arm, and typically mounted and rotated on the back of a tractor or front loader. The passive levers/joysticks for actuator operations of a hydraulic backhoe are replaced into electric joysticks with a robotic controller, which will generate the end-effecter command trajectories of the backhoe through joystick rate control in cylindrical coordinate. The developed backhoe with the hydraulic control system showed the maxim position error of 3 cm with intuitive coordinate operations, which would be helpful for conveniently performing various excavating tasks with natural and effective ways.

• 대한기계학회논문집
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• 제13권6호
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• pp.1346-1360
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• 1989

본 연구에서는 기준 모델 적응제어 방식에서 직접 적응제어 방식을 사용하여 부하의 변동 및 외란이 발생할 경우에도 매니퓰레이터의 정확한 궤적의 추종 및 속도 의 실시간 제어가 가능한 적응제어시스템을 설계하고자 한다. 제2절에서는 로봇 매니퓰레이터의 기구학적 이론 및 동적 모델링에 대한 기본이론을 전개하고, 제3절 에서는 제어시스템의 설계를 위한 제어 알고리즘과 초안정(hyperstability)이론을 통한 안정성 해석을 다룬다. 그리고 제4절에서는 제안된 제어기의 성능 평가를 위해 6관절 로봇인 스탠포드 로봇 매니퓰레이터에 대한 시뮬레이션을 통한 결과를 토오크 계산법(computed torque method)에 의한 결과와 비교 검토함으로서 제안된 제어기의 성능을 예증한다.

• 한국정밀공학회지
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• 제22권8호
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• pp.57-63
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• 2005

Development of a locomotive mechanism fer the capsule type endoscopes will largely enhance the ability to diagnose disease of digestive organs. In connection with it, most of researches have focused on an installable locomotive mechanism in the capsule. In this paper, it is introduced that the movement of a capsule type endoscope in digestive organ can be manipulated by magnetic force produced outside human body. Since the magnetic force is provided by permanent magnets, no additional power supply to the capsule is required. Using a robotic manipulator for locating the external magnet, the capsule motion control system can cover the whole human digestive organs. This study is particularly concentrated on dither motion effect to improve the mobility of capsule type endoscope. It was experimentally found out that the friction coefficient between the capsule and digestive organ can be remarkably reduced by superposing yawing or rolling dither motion on the translatory motion. In this paper, the experimental results obtained with the direction, amplitude and frequency of sinusoidal dither motion changed is reported.

• 제어로봇시스템학회논문지
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• 제5권6호
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• pp.705-713
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• 1999

In this paper, we propose a new motion and force control methodology for constrained robots as an approach of hybrid discrete-continuous dynamical system. The hybrid dynamic system modeling of robotic manipulation tasks with constraints is presented, and the hybrid system control architecture for unconstrained and constrained motion system with parametric uncertainties is synthesized. The optimal reference stiffness of robot manipulator is generated by the hybrid automata as a discrete state system and the control behavior of constrained system which has poor modeling information and time-varying constraint function is improved by the constrained robots as a continuous state system. The performance of the proposed constrained motion control system is successfully evaluated via experimental studies to the constraint tasks.

• 한국산업융합학회 논문집
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• 제18권3호
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• pp.173-180
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• 2015

In this paper, we propose a new precise control technology of robotic gripper for assembling and handling of part. When a robot manipulator interacts mechanically with its environment to perform tasks such as assembly or edge-finishing, the end-effector is thereby constrained by the environment. Therefore grasping force control is very important, since it increases safety due to monitoring of contact force. A comparison of various force control architecture is reported. Different force control methods can often be configured to achieve similar results for a given task, and the choice of control algorithm depends strongly on the application or on the characteristics of a particular robot. In the research, the adjustable gripping force can be controlled and improved the accuracy using the artificial intelligence techniques.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.463-463
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• 2000

A dual-stage positioner for fast and fine robotic manipulations is presented. By adopting the merits of both coarse and fine actuator, a desirable system having the capacity of large workspace with high resolution of motion is enabled. We have constructed an ultra precision XY positioner with dual-stage mechanism where the PZT driven fine stage is mounted on the motor driven XY positioner and applied it to fine tracking controls and micro-tele operations as a slave manipulator. We describe essential merits of the compound actuation mechanism and some control strategies to successfully utilize it with proper servo system design. Through experimental results, the effectiveness of the coarse/fine manipulation by the dual-stage positioner will be shown.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 춘계학술대회 논문집
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• pp.235-240
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• 1995

In order to eliminate position errors existing at the steady state in the motion control of robotic manipulators, a new fuzzy control algorithm is proposed using three variables, position error, velocity error and integral of position errors as input variables of the fuzzy controller. Three dimensional look-up table is used toreduce the computational time in real-time control, and a technique reducing the amount of necessary memory is introduced. Simulation and experimental studies show that the position errors at the steady state are decreased more than 90% compared to those of existing fuzzy controller when the proposed fuzzy controller is applied to the 2 axis direct drive SCARA robot manipulator.

• 한국정밀공학회지
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• 제6권1호
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• pp.52-74
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• 1989

In general, the state of system can be effected by external noise and observed only through a noisy channel. Therefore we use the estimation technigue for the information of state of the system effected by noise. There are many filters such as kalman-Buchy filter, kalman filter, Extended Kalman filter algorithm, cononlinear, extended Kalman filter algorithm to the estimation of parameters is very useful and has a long history. Also a considerable number of applications of this method has been reported. In this paper, the robot control system is treated in stochastic optimal control because of the robots doing a complicated and accurate task in inapproate environment. We have conclusion that error covariance is converged and the stability of filtering is obtained.

• 대한전자공학회논문지
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• 제25권2호
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• pp.152-161
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• 1988

In this paper, a direct method for obtaining the trajectory set points is investigated in discrete-time, which is different from the other conventional schemes. We consider the tracking of a straight line path, where the trajectory set points for manipulator control are determined exactly on the straight line path. For the purpose of the munimum-time operation of manipulators, the problem is formulated as a maximization of the Cartesian distance between two consecutive servo time instants. The maximization is subject to the smoothness and torque constraints. Several algorithms are developed and utilized to maximize the Cartesian distance. The proposed approach has been simulated on a VAX-11/780 computer to verify its performance.