• Journal of Institute of Control, Robotics and Systems
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• v.22 no.11
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• pp.888-894
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• 2016

This paper presents the kinematic and dynamic analysis of the robot arm for inspection and rescue operations. The inspection robot arm has Pitch-Pitch-Pitch-Yaw motion for an optimal and stable view of the camera installed at the end of the manipulator. The rescue operation robot arm has Yaw-Pitch-Pitch-Roll motion to handle heavy tools. Additionally, both robot arms are waterproof, as they use the triple-layer O-ring. Furthermore, the dynamic equation including the damping force due to the mechanical seal for waterproofness was derived by using the Newton-Euler method. A control system using the ARM processor was developed and introduced in this paper, and its performance was verified through experiments.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.523-527
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• 1991

A rubber pneumatic controlled actuator is a new actuator. It is very light With a high power-to-weight ratio. In this thesis, a control method for a two link robot arm using the rubber actuator is developed. The structure of the servo control is made up of two sections. The position control is performed by PID feedback control. The air pressure is controlled by Servo Valve Unit driven by PWM and the control input is compensated by software operation. The numerical simulation of this control method to two link robot arm is presented to verify the performance of the closed loop system. The actual control of the real two link robot arm with rubber actuator is taken and its results are discussed.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.130.1-130
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• 2001

In this paper, a motion control algorithm is developed using a fuzzy control and the optimization of performance function, which makes a robot arm avoid an unexpected obstacle when the end-effector of the robot arm is moving to the goal position. During the motion, if there exists no obstacle, the end-effector of the robot arm moves along the pre-defined path. But if there exists an obstacle and close to the robot arm, the fuzzy motion controller is activated to adjust the path of the end-effector of the robot arm. Then, the robot arm takes the optimal posture for collision avoidance with the obstacle. To show the feasibility of the developed algorithm, numerical simulations are carried out with changing both the positions and sizes of obstacles. It was concluded ...

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.5
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• pp.533-539
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• 2012

The purpose of this study is to estimate a validity of control signal through a design of Exoskeleton Robot Arm's capable of intelligent recognition as a human arm's motion by using realtime processed data of generated EMG signals. By an intelligent algorithm, the EMG output value of human biceps and triceps muscles contraction can be recognized and used for the control over exoskeleton arm corresponding to human's recognition and judgement. The EMG sensing data of muscles contraction and relaxation are used as the input signal from human's body to operate the Exoskeleton Robot Arm thus copying human arm motion. An intelligent control of Exoskeleton Robot Arm is to design the analog control circuit which processes the input data, and then to manufacture an integrated control board. And then abstracted signal is passed by DSP signal processing, Fuzzy logic algorithm is designed for a accurate prediction of weight or load through the intelligent algorithm, and design an Exoskeleton Robot Arm to express a human's intention.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.11
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• pp.58-65
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• 2008

The study on dual arm robot manipulator which consists of two 6-DOF srms and one 2-DOF torso is introduced. This dual arm robot manipulator is designed for automation of assembly process in automotive manufacturing line. Each industrial 6-DOF arm can be used as a stand-alone type of industrial robot manipulator with 6-DOF and as a manipulator part of dual arm robot at the same lime. These structures help the robot maker willing to succeed in emerging market of dual arm robots have the high competitive power for the current industrial robot market and the emerging market of dual arm robot at the same time. The research results of the design concept, workspace analysis and the PC-based controller will be introduced.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.461-466
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• 1994

This paper is concerned with the positioning control of a flexible arm system using H$_{\infty}$ control theory with optimum sensor location. Firstly, by virtue of the orthogonality of the flexible modes of the flexible arm a reduced order model of the tributed parameter system(DPS) representing the arm has formulated. The dynamical coupling between the flexible arm and DC motor has been considered to formulate an motor composite model. In order to achieve precise positioning with vibration attenuation, sensors have been optimally located. Finally, a robust H$_{\infty}$ controller was designed and the performance of the positioning system has been analyzed.d.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.607-612
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• 1992

This paper presents a tip position control of a single-link flexible arm with a payload by using closed loop control. The shifting problem of the arm from the initial position to desired position is considered by the variation of the displacement gain $G_{p}$ and velocity gain $G_{v}$. The system is composed of a flexible arm with payload, DC servomotor, and a ballscrew mechanism. The flexible arm is mounted on a mobile stage driven by a servomotor and ballscrew. As a result, the increase of the displacement and velocity gain respectively comes to the reduction of tip vibration. Theoretical results are approximately in good agreement with those obtained experimentally.y.y.

• Journal of Biomedical Engineering Research
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• v.15 no.4
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• pp.455-464
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• 1994

The intelligent trajectory control method that controls moving direction and average velocity for a prosthetic arm is proposed by pattern recognition and force estimations using EMG signals. Also, we propose the real time trajectory planning method which generates continuous accelleration paths using 3 stage linear filters to minimize the impact to human body induced by arm motions and to reduce the muscle fatigue. We use combination of MLP and fuzzy filter for pattern recognition to estimate the direction of a muscle and Hogan's method for the force estimation. EMG signals are acquired by using a amputation simulator and 2 dimensional joystick motion. The simulation results of proposed prosthetic arm control system using the EMG signals show that the arm is effectively followed the desired trajectory depended on estimated force and direction of muscle movements.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.8
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• pp.374-379
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• 2002

In this study, we developed a new human arm movement detection system using electrical bio-impedance method with several skin-electrodes. The correlation coefficients of the joint angle and the impedance change from human arm movement was obtained using a goniometer and impedance measurement system developed in this study. The correlation coefficients of the wrist and the elbow movements were 0.94 and -0.99, respectively. This system was applied to control a robotic arm by converting the measured impedance to joint angle to confirm the validity of the proposed system. In conclusion, we confirmed that this system can control the robotic arm according to arm movement without any limitation of movement. This system showed possibility that upper arm movement could be easily measured by impedance measurement system with a few skin-electrodes.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1692-1695
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• 1997

In this paper, a new control scheme for master-slave control of telerobot is proposed. The porposed method can be classified into unilater master-slave control methods in the aspect of the data flow. But the master arm in the proposed control scheme can deliver operator the similar kinesthetic sense as other bilateral force reflecting master arms do. The principle concept is that the sensed operator's force/torque is used as the reference input for a damping controller type of telerobot controller which track the operators efforts. Master arm and master controller can be implemented in a simple form, and it needs not be driven by actuators, but force sensing capability.