• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.37 no.5
• /
• pp.1-12
• /
• 2000

In this paper we propose a design method of the adaptive fuzzy controller for autonomous navigation of mobile robots based on the fuzzy theory. We present two improvements. First, unnecessary rules in the fuzzy inference process make data processing time increase. We reduce this data processing time by generating suitable fuzzy inference rules and membership functions according to the current state of a mobile robot. It is implemented with the clustering method using input and output data pairs, and then it is possible for a mobile robot to navigate in shorter processing time with less fuzzy inference rules. Second, existing algorithms used fixed membership functions of input and output variables, hence converged slowly. We improve convergence time via scaling membership functions generated by the clustering method. To evaluate and compare the performance of the proposed method with the existing fuzzy navigation controller, computer simulations and navigation experiments of a mobile robot are Presented.

• 전기의세계
• /
• v.36 no.5
• /
• pp.326-336
• /
• 1987

본고에서는 총12자유도의 4각 보행 로보트의 서보 제어기 설계에 관해 논하고자 하며, 제2장에서는 서보 제어계가 갖추어야 할 필요요건에 대해서 기술하고, 제3장에서는 적합한 구동부의 선정에 관해 기술하고, 제4장에서는 서보 제어계의 주 제어기(main controller)에 관해 기술하였다.

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.26 no.4
• /
• pp.45-52
• /
• 1989

The size of links and actuators of robots tends to be overdesigned compared with their performance. It is recently reported that the balancing of a robot links simplifies its dynamics and eliminates the gravity terms. As a way of avoiding overdesign problem, an auto-balancing mechanism is proposed, which enables to satisfy varying balancing condition according to payloads. The performance of this auto-balancing mechanism is illustrated by the computer simulation evidences.

• Journal of the Korean Society for Precision Engineering
• /
• v.17 no.6
• /
• pp.63-68
• /
• 2000

This paper describes the conceptual design of new robot hand by type synthesis. The conventional robot hands with rotational movement have bad controllability because the distance between the final rotational joint and the center of things grasped is changed according to the size of things grasped. This paper uses the systematic procedure of type synthesis and the knowledge for designing robot hands. The new 6-bar Watt I type conceptual robot hand with rectilinear translational movement is proposed.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.6 no.4
• /
• pp.39-48
• /
• 1996

비선형 동적 시스템을 제어하기에 적합한 귀환 신경망에 대한 연구는 안정성(stability) 유도와 학습 알고리듬(learning algorithm) 개발의 두가지 방향으로 지금까지 많은 연구가 이루어져 왔다. 본 논문에서는 비선형 동적 시스템 제어시 온라인(on-line) 학습이 가능하고 안정성을 보장하도록 귀환 신경망의 학습 알고리듬에 VSS이론을 도입하여 개발한다. 또한 개발한 학습 알고리듬을 사용한 귀환 신경망을 전형적인 비선형 동적 시스템인 로보트 매니퓰레이터의 제어 시스템에 적용하고 기존의 학습 방법의 적용 결과와 비교하여 개발한 제어 알고리듬의 효용성을 입증한다.

• Journal of the Korean Society for Precision Engineering
• /
• v.12 no.1
• /
• pp.97-103
• /
• 1995

This paper describes position and force hybrid control for a robot manipulator with artificial rubber muscle actuators. The controller using two control laws such as PID control and fuzzy logic control methods is designed. This paper concludes to show the effectiveness of the proposed controller by some experiments for a two-link manipulator.

• Journal of Korean Electronics
• /
• v.3 no.7
• /
• pp.26-26
• /
• 1983

• 발명특허
• /
• v.13 no.4 s.146
• /
• pp.54-57
• /
• 1988

• The Korean Publising Journal, Monthly
• /
• s.325
• /
• pp.20-21
• /
• 2002

• 발명특허
• /
• v.13 no.6 s.148
• /
• pp.68-72
• /
• 1988