• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.100-104
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• 1998

This paper describes the real-time implementation of an adaptive controller fur the robotic manipulator. Digital signal processors(DSPs) are special purpose micro-processors that are particularly powerful for intensive numerical computations involving sums and products of variables. TMS320C50 chips are used in implementing real time adaptive control algorithms to provide an enhanced motion for robotic manipulators. In the proposed scheme, adaptation laws are derived from the improved Lyapunov second stability analysis based on the direct adaptive control theory. The adaptive controller consists of an adaptive feedforward controller and feedback controller. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a assembling robot.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1217-1222
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• 2004

This paper describes the development of tele-robotic interface for the hot-line maintenance robot system. One of main issues in designing human-robot interface for the hot-line maintenance robot system is to plan the control procedure for each part of the robotic system. Another issue is that the actual degree of freedom (DOF) in the hot-line maintenance robot system is much greater than that of available control devices such as joysticks and gloves in the remote-cabin. For this purpose, a virtual simulator, which includes the virtual hot-line maintenance robot system and the environment, is developed in the 3D environment using CAD data. It is assumed that the control operation is done in the remote cabin and the overall work process is observed using the main-camera with 2 DOFs. For the input device, two joysticks, one pedal, two data gloves, and a Head Mounted Display (HMD) with tracker sensor were used. The interface is developed for each control mode. Designed human-interface system is operated using high-level control commands which are intuitive and easy to understand without any special training.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1993.04b
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• pp.175-180
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• 1993

The nonlinear integro-differential equations of motion of a two-link structurally flexible planar manipulator executing contact tasks are presented. The equations of motion are derived using the extended Hamilton's principle and the Galerkin criterion. Also, Models for the wrist-force sensor and impact that occurs when the manipulator's end point makes contact withthe environment are presented. The dynamic models presented can be used to studythe dynamics of the system and to design controllers.

• Journal of the Korean Society for Precision Engineering
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• v.9 no.1
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• pp.18-28
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• 1992

시스템의 모델링 과정에서 발생될 수 있는 불확실성(uncertainty) 혹은 미지의 가반중량을 비롯한 외란에 의해 발생되는 불확실성 등을 갖고있는 로봇의 강건 추적제어기 설계를 위해 가변구조시스템(variable structure system) 이론을 적용하였다. 시스템 방정식과 연계하여 슬라이딩 모드가 존재하기 위한 조건을 구했으며, 입력 에 대한 불확실성은 매칭조건(matching condition)을 가정하여 다루었다. 기존의 방법에 비해 제어기 설계과정이 간단 명료하며 요구되는 궤적에 대한 추적제어 효과 또한 매우 우수함을 컴퓨터 시뮬레이션을 통해 입증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.423-427
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• 1993

A velocity planning method is proposed that ensures collision-free and minimal delay-time motions for two robotic manipulators and auxiliary equipments. Additional path, which makes robot start with possible largest speed, is added to the original prescribed path of one of two robots, and this running start along the additional path reduces delay time introduced to avoid collision between the robots and therefore reduces total traveling time.

• Proceedings of the IEEK Conference
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• 1998.06a
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• pp.263-266
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• 1998

This paper propose a prefilter type inverse control algorithm using chaotic neural networks. Since the chaotic neural networks show robust characteristics in approximation and adaptive learning for nonlinear dynamic system, the chaotic neural networks are suitable for controlling robotic manipulators. The structure of the proposed prefilter type controller compensate velocity of the PD controller. To estimate the proposed controller, we implemented to the Cartesian space control of three-axis PUMA robot and compared the final result with recurrent neural network(RNN) controller.

• Proceedings of the KIEE Conference
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• 1989.11a
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• pp.445-449
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• 1989

Achievement of a straight line motion in the Cartesian space has a matter of great importance. Minimization of task execution time with linear interpolation in the joint space, accomplishing of a approximation of straight line motion in the Cartesian coordinate is considered as the prespecified task. Such determination yields minimum time joint-trajectory subject to input torque constraints. The applications of these results for joint-trajectory planning of a two-link manipulator with revolute joints are demonstrated by computer simulations.

• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.408-410
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• 1992

An adaptive hybrid position/force controller for constrained manipulator with uncertain dynamic model parameters and environment stiffness is presented. In this paper, the compliance frame model is constructed by independent positions and forces to be controlled. The adaptive controller based on this compliance frame dynamic model is designed. Lyapunov theory is used for controller design and Stability analysis.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.50-53
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• 1988

This paper presents an approach to the position control of a robot manipulator by using a self-tuning pole-placement controller with an inverse model. The linearized independent difference equations of manipulator motion are obtained, and the parameters of these models are estimated on line. The controller is composed of two parts, the primary controller obtains desired torques by using an inverse model and the secondary controller computes variational torques on the basis of induced perturbation equations by minimizing a quadratic criterion with a closed-loop pole-placement. Simulation is performed to demonstrate the effectiveness of this approach.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.258-262
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• 1990

Several optimum control algorithms have been proposed to minimize the robot cycle time by velocity scheduling. Most of these algorithms assume that the dynamic and kinematic characteristics of a manipulator are fixed. This paper presents the study of a minimum-time optimum control for robotic manipulators considering parameter changes. A complete set of solutions for parameter identification of the robot dynamics has been developed. The minimum-time control algorithm has been revised to be updated using estimated parameters from measurements.