• Journal of the Korean Society for Precision Engineering
• /
• v.21 no.7
• /
• pp.107-114
• /
• 2004

This paper presents a two-time scale approach for vibration reduction of a high speed Cartesian manipulator. High speed manipulators would be subject to mechanical vibration due to high inertia forces acting on linkages. To achieve high throughput capability, such motion induced vibration would have to be damped quickly, to reduce settling time of the manipulator end-effector. This paper develops a two-time scale model fer a structurally-flexible Cartesian manipulator. Based on the two-time scale model, a composite controller consisting of a computed torque method for the slow time-scale rigid body subsystem, and a linear quadratic state-feedback regulator for the fast time-scale flexible subsystem, is designed. Simulation results show that the proposed two time-scale controller yields good performance in attenuating structural vibration arising due to excitation from inertial forces.

• Proceedings of the KIEE Conference
• /
• 1989.11a
• /
• pp.450-455
• /
• 1989

In this paper we investigate the application to the motion control of n-link robotic manipulators of recently developed stable factorization approach to tracking and disturbance rejection. Given control scheme consists of an approximate "Computed Torque" based upon a simplified model together with additional state feedback and feedforward compensation, and then, nonlinear control gain has more useful than constant control gain to guarantee robustness to parameter uncertainty and external disturbance. At this stage, we design high gain nonlinear state feedback controller and simulate this controller at the SCARA type robot manipulator of two joint.

• Journal of Institute of Control, Robotics and Systems
• /
• v.1 no.2
• /
• pp.88-93
• /
• 1995

This paper presents a study using neural networks in the design of the tracking controller of robotic systems. Our strategy is to put to use the available knowledge about the robot manipulator, such as estimation models, in the contoller design via the computed torque method, and then to add the neural network to control the remaining uncertainty. The neural network used here learns to provide the inverse dynamics of the plant uncertainty, and acts as an inverse controller. In the simulation study, we verify that the proposed neural network controller is robust not only to structured uncertainties, but also to unstructured uncertainties such as friction models.

• Journal of the Korean Society of Industry Convergence
• /
• v.25 no.2_1
• /
• pp.161-168
• /
• 2022

This study proposed a new approach to impliment a robusut control of comsumer-friendly flexible manipulator with five joint for untact working in filed work-site. The output redefinition approach was used to overcome the non minimum phase characteristic of the system. The new output is defined so that the zero dynamics related to this output are stable. The control strategy is based on an computed torque method which is applicable to a class of time-invariamt phase linear systems whose uncertainties appear in output loop stable. The controller is composed of a stabilizing joint controller and an output redefinition tracking controller. Experimental results are also presented to verify the effectiveness of the proposed control scheme.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.779-782
• /
• 1997

In this paper, accurate position control of a stenciling robot manipulator is designed. The stenciling robot is requried to draw lines and characters on the pavement. Since the robot is huge and heavy, the inertia is expected to play a major role in the tracking performance as desired. Here we are proposing neural network control scheme for a computed-torque like controller for the stenciling robot. On-line compensation is achieved by neural network. Simulation studies with stenciling robot are carried out to test the performance of the proposed control scheme.

• Proceedings of the KIEE Conference
• /
• 1991.11a
• /
• pp.91-95
• /
• 1991

In this paper, the characteristics of IPMSM(Interior-type Permanent Magnet Synchronous Motor) are simulated using 2-Dimensional finite element method. This paper deals with the following characteristics: Air gap flux density considering skew. Back E.M.F, Torque and Inductance. Torque is calculated using current angle which is known from the controller. Direct axis inductance and Quadrature axis inductance are also calculated using energy perturbation method. This results can be used for the computation of the saliency of IPMSM. Computed results are found in satisfactory agreement with experimental ones.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.21 no.8
• /
• pp.1209-1217
• /
• 1997

This paper proposes the modeling of the dynamics of two cooperating robot manipulators performing the assembly job such as peg-in-hole while coordinating the payload along the desired path. The mass and moment of inertia of the manipulators and the payload are assumed to be unknown. To control the uncertain system, a robust control algorithm based on the computed torque control is proposed. Usually, the robust controller requires high input torques such that it may face input saturation in actual application. In this reason, the robust control algorithm includes fuzzy logic such that the magnitude of the input torque of the manipulators is controlled not to go over the hardware saturation while keeping path tracking errors bounded. A numerical example using dual three degree-of-freedom manipulators is shown.

• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.41 no.7
• /
• pp.723-734
• /
• 1992

In this paper, the characteristics of IPMSM(Interior-type Permanent Magnet Synchronous Motor) are simulated using 2-D. finite element method. This paper deals with the following characteristics : air gap flux density considering skew, back e.m.f., torque and inductance. Back e.m.f. is calculated using the flux obtained from the vector potential of FEM solution. Torque is calculated using improved Maxwell stress tensor method and current angle which is obtained from the controller. Direct axis inductance and quadrature axis inductance are also calculated using energy perturbation method. Computed results are found in satisfactory agreement with experimental ones. This method also can be applied for the computation and analysis of the characteristics of SPMSM, current-excited synchronous motor and reluctance motor.

• Proceedings of the KIEE Conference
• /
• 1987.07a
• /
• pp.234-237
• /
• 1987

Recently various control algorithms for industrial manipulators have been proposed. However, computation time, modelling error, and torque type controller design have prevented real-time implementation. As the result, most of performance evaluations of control algorithms have been carried out only by computer simulations. In this paper, we explore real-time implementation to show the feasibility and effectiveness of such algorithms. Experimental results indicate that computed torque method and learning control algorithms can be effectively applied to control industrial manipulators.

• Journal of the Korean Society of Industry Convergence
• /
• v.21 no.1
• /
• pp.37-44
• /
• 2018

In this work, a 4-DOF industrial robot system with three translational and one rotational motions which is widely used in palletizing applications is developed. In order for small robot manufacturing companies to develop their own robot systems for CNC machining and/or general automations, the analysis and design methods of a 4-DOF robot manipulator are presented and the development of a PC-based robot controller with EtherCAT are introduced. It is noted that the robot controller is developed by using Simulink Real-Time, which can provide an integrated environment of easier control algorithm development and data logging. Through position control and accuracy/repeatability measurement results, the developed robot prototype has comparable performances with commercial counterparts. In the future works, the advanced functions of industrial robots such as kinematic calibration, vibration suppression control, computed torque control, etc. will be investigated.