• Journal of the Korean Society of Industry Convergence
• /
• v.19 no.1
• /
• pp.18-30
• /
• 2016

In this paper, we propose a new technique to the design and real-time control of an adaptive controller for robotic manipulator based on digital signal processors. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved Lyapunov second method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. 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 proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot manipulator with eight joints. joint space and cartesian space.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.21 no.1
• /
• pp.173-179
• /
• 2017

This paper proposes a robust impedance controller for high-DOF robots. The model-based control of a higher DOF robot uses a numerical dynamic model because the analytical dynamic model is difficult to be derived and this means that modeling error is inevitable. The impedance control in the task space is affected by joint motions and has more difficulties in the higher DOF robots. In addition, the disturbances must be decoupled in the control of high DOF robot. This paper proposes a robust impedance controller based on integral sliding mode control (ISMC) and disturbance observer(DOB) for high-DOF robot manipulator. The ISMC is used to improve the robustness of the impedance control and to preserve its nominal performance. DOB is also employed to cancel the effects of input disturbances and to reduce the maximum gain of the ISMC which eventually determines the input chattering size.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.6
• /
• pp.540-546
• /
• 2013

This paper presents a trajectory planning algorithm for TMR (Two-wheeled Mobile Robots). The trajectory is developed in joint space and considers the physical limits of a TMR. First, we present a process for generating a smooth curve through a Bezier curve. The trajectory for the center of the TMR following the Bezier curve is developed through a convolution operator taking into consideration its physical limits. The trajectory along the Bezier curve is regenerated using time-dependent parameters which correspond to the distance driven by the velocity of the center of the TMR in a sampling time. The velocity commands in the Cartesian space are converted to actuator commands for two wheels. In case that the actuator commands exceed the maximum velocity, the trajectory is redeveloped with compensated center velocity. We also suggest a smooth trajectory planning algorithm in joint space for the two segmented paths. Finally, the effectiveness of the algorithm is shown through numerical examples and application to a simulator.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.11 no.1
• /
• pp.159-165
• /
• 2010

The moving object monitoring and transforming personal robot system based on remote controls is designed and implemented, and the performance of the system is analyzed in this paper. The major considering factors in the system design are such as 1) the control scheme design (button based and the remote control schemes); 2) the operation modes design (wheel driving mode/pedestrian mode/auto driving mode/observation mode); 3) the remote control function design; 4) the design of the monitoring function of the changes in neighbor environments; 5) the design of the detection of obstruction. From the experiments, it is assured that the developed personal robot can walk to the grounds that covered with doorsill or electric wires in indoors by control the leg articulations, and can escape from the obstruction using three infrared sensors in the 30cm*30cm obstruction styled space under the auto driving mode.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.35 no.12
• /
• pp.1301-1307
• /
• 2011

Electrosurgical knee wand (EKW) is a high-frequency thermocautery instrument and is often used for coagulation, ablation, excision, and extirpation of knee ligaments and tissues. In order to maximize the success rate, ease, and safety of knee surgery using EKW and radiofrequency ablation, it is necessary to ensure that the EKW selectively approaches the lesion with utmost accuracy and safety. The key feature of this instrument is its excellent maneuverability. Hence, the authors constructed a tensile spring model based on a shape memory alloy (SMA), which exhibits the shape memory effect. This model can be used in knee surgery as it is considered the most biocompatible femorotibial surgical actuator. The changes in external temperature with current and the thermoelectric characteristics of the SMA were investigated. The relationship between the restoring force and the typical stroke (TS) in response to the conditions in the SMA tensile spring design were evaluated. In conclusion, as the diameter of the SMA tensile spring decreased, the maximum temperature increased. The strain in the actuator caused a stable and proportional increase in the force and induced current for up to 15s, but this increase became very unstable after 30s. Moreover, the relationship between the current and the TS was more stable than that between the current and the restoring force.

• Journal of the Korea Computer Graphics Society
• /
• v.29 no.5
• /
• pp.1-9
• /
• 2023

The control technology of animatronics is an interesting topic explored in various fields, including engineering, medicine, and art, with ongoing research efforts. The conventional method for controlling the movement of animatronics is to use electric motors installed inside the body. However, this method is difficult to apply when expressing a narrow space inside the body. In this study, a method of using external forces instead of installing mechanical devices inside the body was proposed to control the movement of a thin and long tentacle organism. Specifically, in this study, the joint body of animatronics was made of magnetic metal material so that it could be affected by the force of an externally installed electromagnet. The strength of the electromagnet was controlled by a PID controller to enable real-time control of the position of the animatronics body. In addition, the magnet was made to rotate, and the speed of rotation was changed to create various movements. Through virtual environment simulations, our experiments demonstrate the superiority of the proposed method, showcasing real-time control by users and the creation of animations in various styles.

• Proceedings of the KIEE Conference
• /
• 2003.07d
• /
• pp.2390-2392
• /
• 2003

ILC(Iterative Learning Control: 이하 ILC)는 현재 기계, 전기, 화학 등 많은 분야에 널리 적용되고 있다. ILC는 특히 반복적인 trajectory tracking Control 문제에 아주 효과적인 방법 중의 하나이다. 하지만 ILC는 메모리 기반의 scheme로서 trajectory tracking을 위해서는 많은 메모리를 요구하게 된다. 한편, 자세한 관찰에 의하면 인간의 팔, 다리 등의 관절의 움직임은 아주 정확하지가 않다. 이러한 사실로 미루어 인간이 정화한 모션을 취하는데 드는 비용을 줄이고자 모션 명령을 간단히 한다는 가정을 추론 해 낼 수 있다. 이러한 가정에 기초하여 우리는 ILC 명령을 간단히 하기 위해서 약간의 trajectory tracking의 정확성을 회생하는 메커니즘을 제안한다. 간단해진 ILC 명령은 적은 메모리 공간에 저장될 것이다. 또한, 로봇의 trajectory tracking을 위한 기존의 방법들은 아주 복잡할 뿐만 아니라 하나의 task의 수행만이 가능할 뿐 어떤 일반화의 방법도 제시하지 못하고 있다. 그래서 본 논문에서는 ILC 명령의 scaling에 대한 메커니즘을 제공하여 하나의 trajectory에 대해서 비슷한 모양이지만 다른 크기와 속도를 가지는 trajectory를 구현 할 수 있도록 하였다.

• Journal of the Korea Computer Graphics Society
• /
• v.23 no.3
• /
• pp.1-8
• /
• 2017

In this paper, we introduce a technique to retarget human motion data to the humanoid body in a constrained environment. We assume that the given motion data includes detailed interactions such as holding the object by hand or avoiding obstacles. In addition, we assume that the humanoid joint structure is different from the human joint structure, and the shape of the surrounding environment is different from that at the time of the original motion. Under such a condition, it is also difficult to preserve the context of the interaction shown in the original motion data, if the retargeting technique that considers only the change of the body shape. Our approach is to separate the problem into two smaller problems and solve them independently. One is to retarget motion data to a new skeleton, and the other is to preserve the context of interactions. We first retarget the given human motion data to the target humanoid body ignoring the interaction with the environment. Then, we precisely deform the shape of the environmental model to match with the humanoid motion so that the original interaction is reproduced. Finally, we set spatial constraints between the humanoid body and the environmental model, and restore the environmental model to the original shape. To demonstrate the usefulness of our method, we conducted an experiment by using the Boston Dynamic's Atlas robot. We expected that out method can help the humanoid motion tracking problem in the future.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.17 no.5
• /
• pp.941-948
• /
• 2022

Disaster response robots are deployed to disaster sites where human access is difficult and dangerous. The disaster response robots explore the disaster sites prevent a structural collapse and perform lifesaving to minimize damage. It is difficult to operate robots in the disaster sites due to rough terrains where various obstacles are scattered, communication failures and invisible environments. In this paper, we developed a series connectable wheeled robot module. The series connectable wheeled robot module was developed into two types: an active driven robot module and a passive driven robot module. A wheeled robot was built by connecting the two active type robot modules and one passive type robot module. Two robot modules were connected by one DoF rotating joint, allowing the wheeled robot to avoid obstructions in a vertical direction. The wheeled robot performed driving and obstacle avoidance using only pressure sensors, which allows the wheeled robot operate in the invisible environment. An obstacle avoidance experiment was conducted to evaluate the performance of the wheeled robot consisting of two active driven wheeled robot modules and one passive driven wheeled robot module. The wheeled robot successfully avoided step-shaped obstacles with a maximum height of 80 mm in a time of 24.5 seconds using only a pressure sensors, which confirms that the wheeled robot possible to perform the driving and the obstacle avoidance in invisible environment.

• Journal of the Institute of Electronics Engineers of Korea SP
• /
• v.44 no.4 s.316
• /
• pp.60-69
• /
• 2007

The human eye usually experiences a loss of color sensitivity when it is subjected to high levels of luminance, and perceives a discrepancy in color between high and normal-luminance displays, generally known as a hue shift. Accordingly, this paper models the hue-shift phenomenon and proposes a hue-correction method to provide perceptual matching between high and normal-luminance displays. The value of hue-shift is determined by perceived hue matching experiments. At first the phenomenon is observed at three lightness levels, that is, the ratio of luminance is the same between high and normal-luminance display when the perceived hue matching experiments we performed. To quantify the hue-shift phenomenon for the whole hue angle, color patches with the same lightness are first created and equally spaced inside the hue angle. These patches are then displayed one-by-one on both displays with the ratio of luminance between two displays. Next, the hue value for each patch appearing on the high-luminance display is adjusted by observers until the perceived hue for the patches on both displays appears the same visually. After obtaining the hue-shift values, these values are fit piecewise to allow shifted-hue amounts to be approximately determined for arbitrary hue values of pixels in a high-luminance display and then used for correction. Essentially, input RGB values of an image is converted to CIELAB values, and then, LCh (lightness, chroma, and hue) values are calculated to obtain the hue values for all the pixels. These hue values are shifted according to the amount calculated by the functions of the hue-shift model. Finally, the corrected CIELAB values are calculated from corrected hue values, after that, output RGB values for all pixels are estimated. For evaluation, an observer's preference test was performed with hue-shift results and Almost observers conclude that the images from hue-shift model were visually matched with images on normal luminance display.