• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.683-691
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• 1997

This paper presents a new robot trajectory generation method based on the curvatre theory of ruled surfacees. robot trajectory is represented as a ruled surface generated by the TCP (Tool center point ) and any one unit vector among the tool frame (usually denoted O, A,N). The curvature theory of ruled surfaces provides the robot control algorithm with the motion property oarameters. The proposed method eliminates the necessity of approximation technic of either joint or cartesian interpolation. This technic may give new methodology of precision robot control. Especially this is very efficient when the robot traces an analytical or form surface if the surface is geometrically modelled.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2019.05a
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• pp.436-438
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• 2019

Air hockey robots are machine vision systems that allow users to play hockey balls through the camera. The position detection of the hockey ball is realized by using the color information of the ball using OpenCV library. It senses the position of the hockey ball, predicts its trajectory, and sends the result to the ARM Cortex-M board. The ARM Cortex-M board controls a 2- Axis Cartesian Coordinate Robot to run an air hockey game. Depending on the strategy of the air hockey robot, it can operate in defensive, offensive, defensive and offensive mode. In this paper, we describe a vision system development and trajectory prediction system and propose a new method to control a biaxial orthogonal robot in an air hockey game.

• Proceedings of the KIEE Conference
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• 1991.11a
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• pp.405-408
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• 1991

In this paper, the algorithm of Resolved Motion Rate Control(RMRC) is applied to the robot manipulator to implement a desired straight trajectory in the cartesian space, PI controller is also used to control the velocity and position which are produced by RMRC algorithm. And Bounded Deviation Method is used to determine the intermediate knot points which satisfy a given tolerence limit, between the straight line segment.

• 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.

• Journal of the Korean Institute of Telematics and Electronics
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• v.26 no.9
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• pp.1332-1339
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• 1989

The problem of finding an admissible object trajectory for a cooperating two-robot system is investigated. The method is based on reformulating the problem as a nonlinear optimization problem with equality constraints in terms of the joint variables. The optimization problem is then solved numerically on a computer. The solution automatically gives the corresponding joint variable trajectories as well, thus eliminating the need for solving the inverse kinematic problem. The performance indices are chose in joint and cartesian spaces and computer simulations are performed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1992.04a
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• pp.127-132
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• 1992

To relize the future intelligent robot the development of a special-purpose processor for a coordinate transformation is evidently challenging task. In this case the complexity of a hardware architecture strongly depends on the adopted algorithm. In this paper we have used an inverse kinemetics algorithm based on incremental unit computation method. This method considers the 3-axis articulated robot as the combination of two types of a 2-axis robot: polar robot and 2-axis planar articulated one. For each robot incremental units in the joint and Cartesian spaces are defined. With this approach the calculation of the inverse Jacobian matrix can be realized through a simple combinational logic gate. Futhermore, the incremental computation of the DDA integrator can be used to solve the direct kinematics. We have also designed a hardware architecture to implement the proposed algorithm. The architecture consists of serveral simple unitsl. The operative unit comprises several basic operators and simple data path with a small bit-length. The hardware architecture is realized byusing the EPLD. For the straight-line motion of the KAIST arm we have obtained maximum end effector's speed of 12.6 m/sec by adopting system clock of 8 MHz.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.10
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• pp.921-927
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• 2013

This paper presents a user interface for vision based indirect teaching of a robotic manipulator with Kinect and IMU (Inertial Measurement Unit) sensors. The user interface system is designed to control the manipulator more easily in joint space, Cartesian space and tool frame. We use the skeleton data of the user from Kinect and Wrist-mounted IMU sensors to calculate the user's joint angles and wrist movement for robot control. The interface system proposed in this paper allows the user to teach the manipulator without a pre-programming process. This will improve the teaching time of the robot and eventually enable increased productivity. Simulation and experimental results are presented to verify the performance of the robot control and interface system.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.11 no.6
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• pp.31-37
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• 2002

This paper presents a new motion control strategy for singularity avoidance in 6 DOF articulated robot manipulators, based on a speed limiting algorithm for joint positions and velocities. For a given task, the robot is controlled so that the joints move with acceptable velocities and positions within the reachable range of each joint by considering the velocity limit. This paper aims at the development of a new efficient method to control robot motion near and at singularities. The proposed method has focused on generating the optimal joint trajectory for a Cartesian end-effector path within the speed limit of each joint by using the speed limit avoidance as well as the acceleration/deceleration scheme. The proposed method was verified using MATLAB-based simulations.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1418-1423
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• 2003

In this paper, a nonlinear controller based on sliding mode control is applied to a two -wheeled Welding Mobile Robot (WMR) to track a smooth-curved welding path at a constant velocity of the welding point. T he mobile robot is considered in terms of dynamics model in Cartesian coordinates and its parameters are exactly known . To obtain the controller, the tracking errors are defined, and the two sliding surfaces are chosen to guarantee that the errors converge to zero asymptotically. Two cases are to be considered: fixed torch and controllable torch. In addition, a simple way of measuring the errors is introduced using two potentiometers. The simulation results are included to illustrate the performance of the control law.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1993.10a
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• pp.593-597
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• 1993

This paper introduces robust trajectory planner for obstacle and singularity avoidance in a nonresonant robot manipulator. In this work, we propose new trajectory generator in cartesian space by use of Bezier function. Also, SR-inverse is used for obstacle and singularity avoidance of nonredundant robot. This result is verified with 3-D simulator which has been developed to examine the effectiveness of the suggested method.