• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.37 no.3
• /
• pp.9-18
• /
• 2000

This paper presents methods for reducing odometer errors caused by kinematic imperfections in wheeled mobile robots. Wheel diameters and wheelbase are corrected by using encoders without landmarks. And a new velocity trajectory is proposed that compensates for an orientation error due to acceleration-resolution constraints on motor controllers. Based on this velocity trajectory, the wheel velocity of one out of two driven wheels may be changed by the traveled distance of the mobile robot. It is shown that a wheeled mobile robot can't move along a straight line exactly, even if kinematic correction are achieved perfectly, and this phenomenon is attributable to acceleration-resolution constraints on motor controllers. We experiment on a wheeled mobile robot with 2 d.o.f. and discuss the results.

• Transactions on Control, Automation and Systems Engineering
• /
• v.1 no.1
• /
• pp.16-20
• /
• 1999

Like the usual systems, the industrial robot manipulator has some constraints for motion. Usually we hope that the manipulators move fast to accomplish the given task. The problem can be formulated as the time-optimal control problem under the constraints such as the limits of velocity, acceleration and jerk. But it is very difficult to obtain the exact solution of the time-optimal control problem. This paper solves this problem in two steps. In the first step, we find the minimum time trajectories by optimizing cubic polynomial joint trajectories under the physical constraints using the modified evolution strategy. In the second step, the controller is optimized for robot manipulator to track precisely the optimized trajectory found in the previous step. Experimental results for SCARA type manipulator show that the proposed method is very useful.

• ICROS
• /
• v.1 no.1
• /
• pp.16-16
• /
• 1995

Like the usual systems, the industrial robot manipulator has some constraints for motion. Usually we hope that the manipulators move fast to accomplish the given task. The problem can be formulated as the time-optimal control problem under the constraints such as the limits of velocity, acceleration and jerk. But it is very difficult to obtain the exact solution of the time-optimal control problem. This paper solves this problem in two steps. In the first step, we find the minimum time trajectories by optimizing cubic polynomial joint trajectories under the physical constraints using the modified evolution strategy. In the second step, the controller is optimized for robot manipulator to track precisely the optimized trajectory found in the previous step. Experimental results for SCARA type manipulator show that the proposed method is very useful.

• Journal of Mechanical Science and Technology
• /
• v.17 no.8
• /
• pp.1133-1139
• /
• 2003

In this paper, a numerical algorithm for the kinematic analysis of a multi-link five-point suspension system is presented. The kinematic analysis is carried out in terms of the rectangular Cartesian coordinates of some defined points in the links and at the joints. Geometric constraints are introduced to fix the relative positions between the points belonging to the same rigid body. Position, velocity and acceleration analyses are carried out. The presented formulation in terms or this system of coordinates is simple and involves only elementary mathematics. The results of the kinematic analysis are presented and discussed.

• 제어로봇시스템학회:학술대회논문집
• /
• 1989.10a
• /
• pp.154-159
• /
• 1989

This paper presents a motion planning algorithm for conveyor tracking. We formulate the problem as the linear quadratic tracking problem in optimal control theory and solve it through dynamic programming. In the proposed algorithm, the steady-state tracking error is eliminated completely, and the joint torque, velocity, acceleration, and jerks are considered as some constraints. Numerical examples are then presented to demonstrate the utility of the proposed motion planning algorithm.

• International Journal of Control, Automation, and Systems
• /
• v.4 no.4
• /
• pp.405-413
• /
• 2006

A novel approach based on genetic algorithms (GA) is developed to find a global minimum-jerk trajectory of a space robotic manipulator in joint space. The jerk, the third derivative of position of desired joint trajectory, adversely affects the efficiency of the control algorithms and stabilization of whole space robot system and therefore should be minimized. On the other hand, the importance of minimizing the jerk is to reduce the vibrations of manipulator. In this formulation, a global genetic-approach determines the trajectory by minimizing the maximum jerk in joint space. The planning procedure is performed with respect to all constraints, such as joint angle constraints, joint velocity constraints, joint angular acceleration and torque constraints, and so on. We use an genetic algorithm to search the optimal joint inter-knot parameters in order to realize the minimum jerk. These joint inter-knot parameters mainly include joint angle and joint angular velocities. The simulation result shows that GA-based minimum-jerk trajectory planning method has satisfactory performance and real significance in engineering.

• Journal of Institute of Control, Robotics and Systems
• /
• v.12 no.3
• /
• pp.208-220
• /
• 2006

Energy of wheeled mobile robot is usually supplied by batteries. In order to extend operation time of mobile robots, it is necessary to minimize the energy consumption. The energy is dissipated mostly in the motors, which strongly depends on the velocity profile. This paper investigates various 3-step (acceleration - cruise - deceleration) speed control methods to minimize a new energy object function which considers the practical energy consumption dissipated in motors related to motor control input, velocity profile, and motor dynamics. We performed an analysis on the energy consumption various velocity profile patterns generated by standard control input such as step input, ramp input, parabolic input, and exponential input. Based on these standard control inputs, we analyzed the six 3-step velocity profile patterns: E-C-E, P-C-P, R-C-R, S-C-S, R-C-S, and S-C-R (S means a step control input, R means a ramp control input, P means a parabolic control input, and E means an exponential control input, C means a constant cruise velocity), and suggested an efficient iterative search algorithm with binary search which can find the numerical solution quickly. We performed various computer simulations to show the performance of the energy-optimal 3-step speed control in comparison with a conventional 3-step speed control with a reasonable constant acceleration as a benchmark. Simulation results show that the E-C-E is the most energy efficient 3-step velocity profile pattern, which enables wheeled mobile robot to extend working time up to 50%.

• Journal of Biosystems Engineering
• /
• v.8 no.2
• /
• pp.26-38
• /
• 1983

Binder harvesters introduced to Korea were originally designed to be used for Japonica varieties which are highly resistant to shattering. In order to improve the performance of the binder to Indica varieties which are easily shattered and have shorter stem, mechanical modifications of the binder are inevitable. Shattering losses of the binder can be classified into two major parts; one incurred before and one after binding operations. The latter has been evaluated as great as the former. Previous studies indicated that the high discharge losses resulted from a great impact force of the discharge arm on the rice bundle during the discharge process. This study was intended to theoretically analyze the discharge mechanism of four-bar linkage. For this purpose, two commercially available binder harvesters having a four-bar linkage as a discharge mechanism were analyzed. Using the results from the motion analysis and the other structural constraints of the machines, they were modified and experimentally compared with the machines without modification to see whether any decrease in grain losses was obtained. The results obtained in this study are summarized as follows: 1. The path, velocity and acceleration of discharge arm were computer analyzed by vector analysis. Using results of the analysis and intrinsic constraints of the binder, discharge mechanism was modified to reduce the impact force on bundle by discharge arm in the range where the discharge performance was not deteriorated. This modification of the discharge mechanism could be done with an aid of four-bar linkage synthesis technique. As a result, average velocity and acceleration of the discharge arm during the discharge process were reduced respectively by 19 percent and 33 percent for binder A, and 17 percent and 35 percent for binder B. 2. Through the modification of the discharge mechanism, discharge losses of binder A were reduced by 42-56 percent for Milyang 23, Poongsan and Hangang chal, and discharge losses of binder B were reduced by 13-20 percent for Milyang 23 and Poongsan. 3. Discharge losses were decreased as the bundle size became larger and the size effect on the decrease rate appeared more significant in the binders with modifications than in those without modifications.

• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.28B no.5
• /
• pp.357-368
• /
• 1991

Collision-free trajectory planning for two robots is considered. The two robot system handled in the paper is given specified geometric paths for two robots, and the task is repeating. Then, the robot dynamics is transformed as a function of the traveled lengths along the paths, and the bounds on acceleration and velocity are described in the phase plane be taking the constraints on torques and joint velocities into consideration. Collision avoidance and time optimality are considered simultaneously in the coordination space and the phase plane, respectively. The proof for the optimality of the proposed algorithm is given, and a simulation result is included to show the usefulness of the proposed method.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.18 no.5
• /
• pp.541-549
• /
• 2008

The dynamic contact between a high-speed wheel and an elastic beam is numerically analyzed by solving the whole equations of motion of the wheel and the beam subjected to the contact condition. For the stability of the numerical solution, the velocity and acceleration constraints as well as the displacement constraint are imposed on the contact point. Through the numerical examples, it is shown that the acceleration contact constraint including the Coriolis and centripetal accelerations are crucial for the numerical stability.