• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 하계학술대회 논문집 B
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• pp.693-695
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• 1997

This paper deals with the tracking control problem of robotic manipulators with unknown or changing dynamics. The torque input applied to the joint actuators is determined at every instance by the identification model that best approximates the robot dynamics. The best of the identified model is chosen by the proposed switching mechanism with fuzzy inference of the manipulator in an indirect adaptive controller architecture. Simulation results are also included to demonstrate the improvement in the tracking performance when the proposed method is used.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.61.2-61
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• 2002

$\textbullet$ Introduction $\textbullet$ Dynamics of robotic manipulator $\textbullet$ Time-varying sliding surface $\textbullet$ Fuzzy rule, Membership function $\textbullet$ Application to a two degree robotic manipulator $\textbullet$ Conclusion

• 대한전기학회논문지
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• 제37권4호
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• pp.226-231
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• 1988

A program is developed for generating the dynamic equations for the robotic manipulators using the symbolic language muSIMP/ MATH. The muSIMP/ MATH is a LISP-based computer. algebra package, devoted to the manipulation of algebraic expressions including numbers, variables, functions, and matrices. The muSIMP-MATH can operate on personal computer such as IBM-PC. The program is developed, based on the Lagrange-Euler formulation. This program is applicable to the manipulators with any number of degrees of freedom, and maximum number of degrees of freedom is set to be six in this program.

• 전자공학회논문지B
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• 제33B권1호
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• pp.15-24
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• 1996

본 논문은 로봇 매니퓰레이터의 엔드 이펙터(end-effector)에 부착된 스테레오 카메라를 사용하여 움직이는 물체의 초기자세나 이동에 관한 정보가 미지인 3차원 물체의 파지(grasping)를 위해서, 로봇 매니퓰레이터의 자세(위치 및 방위)제어에 관한 새로운 비주얼 서보잉(visual servoing)을 제안한다. 로봇 매니퓰레이터의 현재의 자세를 목표자세에 잘 추적하기 위해서 본 논문에서는 카메라 자세에 대한 대상물체의 자세변화와 이미지상의 특정점 변화를 기술하는 관계식인 이미지 Jacobian을 미분변환을 이용하여 구했으며, 로봇 매니퓰레이터의 제어를 위해서는 간단한 PD제어기를 사용하였다. 마지막으로 다양한 컴퓨터 시뮬레이션을 통하여 제안한 수법의 유효성을 확인했다.

• 대한기계학회논문집
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• 제18권8호
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• pp.2088-2100
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• 1994

Considerable attention has been given to controller designs that utilize the variable structure system theory in order to achieve robust tracking performance of robotic manipulators subjected to parameter variations and extraneous disturbances. However, the theory has not had wide spread acceptance in practical control engineering community due mainly to the worry of chattering which is inherently ever-existing in the variable structure system. This paper presents a novel type of fuzzy-sliding mode controller to alleviate the chattering problem. A sliding mode controller for robust robot control is firstly synthesized with an assumption that the imposed system uncertainties satisfy matching conditions so that certain deterministic performances can parameters and control rules are obtained from a relation between predetermined sliding surfaces and representative points in the error state space. A two degree-of-freedom robotic manipulator subjected to a variable payload and a torque disturbance is considered in order to demonstrate superior tracking performance accrued from the proposed methodology.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.65-68
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• 1996

Robotic manipulators have become increasingly important in the field of flexible automation. High speed and high-precision trajectory tracking are indispensable capabilities for their versatile application. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. This paper presents a new approach to the design of neural control system using digital signal processors in order to improve the precision and robustness. The TMS32OC31 is used in implementing real time neural control to provide an enhanced motion control for robotic manipulators. In this control scheme, the networks introduced are neural nets with dynamic neurons, whose dynamics are distributed over all the, network nodes. The nets are trained by the distributed dynamic back propagation algorithm. The proposed neural network control scheme is simple in structure, fast in computation, and suitable for implementation of real-time, control. Performance of the neural controller is illustrated by simulation and experimental results for a SCARA robot.

• 대한전자공학회논문지
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• 제25권12호
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• pp.1601-1609
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• 1988

In the control of the robotic manipulators, the variable structure control method for the set point Regualation has an advantage of the insensitivity about parameter variations and disturbances. When the robotic manipulatores are controlled by a point-to-point scheme, no path constraint is considered. Thus, the variable structure control method will be effectively applied only if the trajectory of the robot hand is estimated precisely. In this paper, the joint trajectories in the joint space and the hand trajectory in the cartesian space are calculated by the variable structure control method, and an algorithm is suggested to elaborate the deviation error of the robot hand from a straight line path. The result of this study will become a base of the effective path planning about robotic manipulators with the variable structure control concept.

• 한국정밀공학회지
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• 제10권4호
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• pp.54-63
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• 1993

This paper presents the dynamic modeling and control methodology to arrest structural deflections of industrial robotic manipulators featuring elastic members retrofitted with surface bonded pizoelectric actuators and sensors. The cynamic modeling is accomplished by employing a variational theorem, prior to developing a finite element formulation. This finite element formulation accounts for both original robot member elements and also bonded piezoelectric material elements. The governing equation of motion is then modified by condensing the electric potential vectors and subsequently two different negative velocity feedback controllers are established; a constant-gain feedback controller and a constant- amplitude feedback controller. By adopting a Model P50 articulating industrial robot manufactured by Gerneral Electric Company, conputer simulations are underlaken in order to demonstrate superior performance characteristics to be accrued from this proposed methodology such as smaller deflections at the end-effector.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1984년도 하계학술회의논문집
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• pp.119-121
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• 1984

This paper presents an adaptive scheme for regulating the perturbed dynamics in the vicinity of a desired trajectory for robotic manipulators. The scheme directly adjusts the control parameters to compensate destabilizing effects of the unknown, but slowly time varying parameters in the perturbation equation.

• 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.