• 로봇학회논문지
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• 제15권2호
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• pp.131-138
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• 2020

This paper proposes a low-cost robotic surgery system composed of a general purpose robotic arm, an interface for daVinci surgical robot tools and a modular haptic controller utilizing smart actuators. The 7 degree of freedom (DOF) haptic controller is suspended in the air using the gravity compensation, and the 3D position and orientation of the controller endpoint is calculated from the joint readings and the forward kinematics of the haptic controller. Then the joint angles for a general purpose robotic arm is calculated using the analytic inverse kinematics so that that the tooltip reaches the target position through a small incision. Finally, the surgical tool wrist joints angles are calculated to make the tooltip correctly face the desired orientation. The suggested system is implemented and validated using the physical UR5e robotic arm.

• 한국통신학회논문지
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• 제19권12호
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• pp.2353-2363
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• 1994

본 논문에서는 외란이 존재하는 로보트 시스템에 대하여, 축소차수관측기를 사용하여 강인한 디지털 제어기의 설계방법을 다루었다. 대부분의 로보트 매니퓰레이터 경우는 상태변수 모두를 측정할 수 없기 때문에 측정할 수 없는 상태변수들은 추정되거나 재구성되어야 한다. 또 다른 문제점들은 미분불가능한 쿨롱마찰력과 같은 비선형 성분, 중력에 의한 외란, 그리고 구동모터와 매니퓰레이터 사이에 존재하는 뒤틀림 스프링 효과이다. 제어기의 설계는 측정가능한 상태변수와 축소차수 관측기에 의하여 추정한 상태변수들을 궤환시키고 출력 쪽에 이산적분기를 첨가하여 구성하였다. 제어기의 궤환이득은 우선 최적제어이론에 의해 구하고, 만약 시스템 응답이 리미트싸이클을 가지면 혼성시스템에 대한 기술함수법을 적용해서 제어기의 이득을 재조정하여 리미트싸이클을 제거하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 제36회 하계학술대회 논문집 전기설비
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• pp.118-120
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• 2005

Nowadays, economical and social environments are changing to the type of an advanced country for development of techniques in power industry. So most of workers are recently avoiding the 3D works and asking for safety of working environment, etc. in highly dangerous parts such as hot line working on distribution lines, especially. Therefore, most advanced countries are using the support-arm or robotic systems on distribution line works for securing the construction reliability, economical feasibility and protection of linemen from the electric shock and so forth. In special Japanese electric power companies are using the robotic system named manipulator. In Korea, a support-arm has been developed for safety and facility in live working on distribution lines but not widely supplied. In this paper we will introduce development cases of support arm and manipulator robot for live working on distribution lines.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.490-493
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• 1996

This paper presents a control scheme for the motion of a 2 DOF robot manipulator. Robot manipulators are multivariable nonlinear systems. Fuzzy logic is avaliable human-like control without complex mathematical operation and is suitable to nonlinear system control. In this paper, Implementation of fuzzy logic control of robotic manipulators shows. Algorithm has been performed with simulation packages MATRIXx and SystemBuild.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집(한일합동학술편); 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.892-897
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• 1987

The ability of a robotic manipulator to recognize the shape of an object by feeling its band around the object is useful in many applications. Two-dimensional object contour tracking by force feedback is described. The system consists of IBM PC/AT, PUMA 560 manipulator, PUMA controller and a tip sensor. Position control is accomplished by using VAL command and the unmodified PUMA controller. A contour tracking algorithm is developed and tested on three different types of objects. The experimental results show that the objects' shapes can be successfully identified.

• 전기학회논문지
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• 제60권7호
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• pp.1417-1426
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• 2011

Radiofrequency ablation through cardiac catheterization is one of minimally invasive intervention procedures used in drug resistant arrhythmia treatment. To facilitate more accurate and precise catheter navigation, systems for robotic cardiac catheter navigation have been developed and commercialized. The authors have been developing a novel robotic catheter navigation system. The system is a network-based master-slave configuration 3-DOF (Degree-Of-Freedom) robotic manipulator for operation with conventional cardiac ablation catheter. The catheter manipulation motion is composed of the translation (forward/backward) and the roll movements of the catheter and knob rotation for the catheter tip articulation. The master manipulator comprises an operator handle compartment for the knob and the roll movement input, and a base platform for the translation movement input. The slave manipulator implements a robotic catheter platform in which conventional cardiac catheter is mounted and the 3-DOF motions of the catheter are controlled. The system software that runs on a realtime OS based PC, implements the master-slave motion synchronization control in the robot system. The master-slave motion synchronization performance tested with step, sinusoidal and arbitrarily varying motion commands showed satisfactory results with acceptable level of steady state error. The developed system will be further improved through evaluation of safety and performance in in vitro and in vivo tests.

• 한국정밀공학회지
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• 제15권12호
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• pp.162-168
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• 1998

The traditional robot manipulators are actuated by continuous range of motion actuators such as motors or hydraulic cylinders. However, there are many applications of mechanisms and robotic manipulators where only a finite number of locations need to be reached, and the robot's trajectory is not important as long as it is bounded. Binary manipulator uses actuators which have only two stable states. As a result, binary manipulators have a finite number of states. The number of states of a binary manipulator grows exponentially with the number of actuators. This kind of robot manipulator has some advantage compared to a traditional one. Feedback control is not required, task repeatability can be very high, and finite state actuators are generally inexpensive. And this kind of robot manipulator has a fault tolerant mechanism because of kinematic redundancy. This paper develops algorithms for kinematics and workspace analysis of a binary manipulator.

• 생물환경조절학회지
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• 제12권2호
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• pp.57-62
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• 2003

본 연구는 오이 수확기 개발을 위해 매니퓰레이터를 설계 제작하였다. 실험에 사용한 3축 매니퓰레이터는 견고성, 내구성, 모멘트를 줄이기 위해 모터 및 감속기의 하중이 실리지 않는 곳에 장착하였다. 주요 연구 결과를 요약하면 다음과 같다. 3차원 공간상의 좌표에 대하여 매니퓰레이터의 10회 반복 측정한 오차의 평균은 Z축에 관계없이 0.1 mm내외로 정확하게 작동하는 것으로 나타났다. 실내 실험에서 25개의 오이에 대한 실험 결과 22개의 절단하여 92%의 성공률을 보였으나, 원인은 오이가 기형과이며, 수확한 후 시간이 경과하여 오이 과병의 물성이 변한 것으로 판단된다. 실내 실험에서 오이 과병을 절단하지 못한 경우에도 매니퓰레이터는 오이 과병에 0.1 mm 내외로 엔드이펙터을 접근시켰다. 50개의 오이에 대하여 현장 실험을 한 결과 42개, 84%의 절단율을 보였다. 16%의 오차가 발생한 것은 수확적기가 지나서 오이의 과병이 짧고 뭉툭해서 나타난 것으로 판단된다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 제36회 하계학술대회 논문집 D
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• pp.2711-2713
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• 2005

This paper presents the tracking control method of robotic systems with uncertainties using self recurrent wavelet neural network (SRWNN) via the backstepping design technique. The SRWNN is used as the uncertainty observer of the robotic systems. The adaptation laws for weights of the robotic systems are induced from the Lyapunov stability theorem, which are used for on-line controlling robotic systems. Computer simulations of a three-link robot manipulator with uncertainties verify the validity of the proposed SRWNN controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2319-2324
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• 2005

This paper proposes a intelligent gain and boundary layer based sliding mode control (SMC) method for robotic systems with unknown model uncertainties. For intelligent gain and boundary layer, we employ the self recurrent wavelet neural network (SRWNN) which has the properties such as a simple structure and fast convergence. In our control structure, the SRWNNs are used for estimating the width of boundary layer, uncertainty bound, and nonlinear terms of robotic systems. The adaptation laws for all parameters of SRWNNs and reconstruction error bounds are derived from the Lyapunov stability theorem, which are used for an on-line control of robotic systems with unknown uncertainties. Accordingly, the proposed method can overcome the chattering phenomena in the control effort and has the robustness regardless of unknown uncertainties. Finally, simulation results for the three-link manipulator, one of the robotic systems, are included to illustrate the effectiveness of the proposed method.