• Title/Summary/Keyword: Feedforward-feedback 제어

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Electromagnetic Actuator for Active Vibration Control of Precise System (초정밀 시스템의 능동 진동제어용 전자기 액츄에이터)

  • Lee, Joo-Hoon;Jeon, Jeong-Woo;Hwang, Don-Ha;Kang, Dong-Sik;Choi, Young-Kiu
    • Proceedings of the KIEE Conference
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    • 2005.10b
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    • pp.228-230
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    • 2005
  • In this paper, we address an active vibration control system, which suppresses the vibration engaged by magnetically levitated stage. The stage system consists of a levitating platen with four permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force for suspension against gravity and propulsion force horizontally as well. This stage can generate six degrees of freedom motion via the vertical and horizontal forces. In the stage system, which represents the settling-time critical system, the motion of the platen vibrates mechanically. We designed an active vibration control system for suppressing vibration due to the stage moving. The command feedforward with inertial feedback algorithm is used for solving stage system's critical problems. The components of the active vibration control system are accelerometers for detecting stage tables's vibrations, a digital controller with high precise signal converters. and electromagnetic actuators.

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Quadruped Walking Control of DRC-HUBO (DRC 휴보의 4족 보행 제어)

  • Kim, Jung-Yup
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.24 no.5
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    • pp.548-552
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    • 2015
  • In this paper, we describe the quadruped walking-control algorithm of the complete full-size humanoid DARPA Robotics Challenge-HUBO (DRC-HUBO) robot. Although DRC-HUBO is a biped robot, we require a quadruped walking function using two legs and two arms to overcome uneven terrains in the DRC. We design a wave-type quadruped walking pattern as a feedforward control using several walking parameters, and we design zero moment point (ZMP) controllers to maintain stable walking using an inverted pendulum model and an observed-state feedback control scheme. In particular, we propose a switching algorithm for ZMP controllers using supporting value and weighting factors in order to maintain the ZMP control performance during foot switching. Finally, we verify the proposed algorithm by performing quadruped walking experiments using DRC-HUBO.

Design of a real Time Adaptive Controller for Industrial Robot Using Digital Signal Processor (디지털 신호처리기를 사용한 산업용 로봇의 실시간 적응제어기 설계)

  • 최근국
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • 1999.10a
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    • pp.154-161
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    • 1999
  • This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

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DECENTRALIZE)) ADAPTIVE CONTROL FOR ROBOT MANIPULATOR (로보트 매니퓰레이터의 비집중 적응제어)

  • Lee, Sang-Cheol;Chung, Chan-Su
    • Proceedings of the KIEE Conference
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    • 1990.07a
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    • pp.504-509
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    • 1990
  • This paper presents a decentralized adaptive control scheme for multi-Joint robot manipulators based on the independent joint control scheme. The control object is to achieve accurate tracking of desired Joint trajectories. The proposed control scheme does not use the complex manipulator dynamic model, and each joint is controlled simple by a feedback controller which ensure stable and also a position-velocity-acceleration feedforward controller and also auxiliary signal, with adjustable gains. Simulation results are given for a two-link manipulator under independent control, proposed decentralized adaptive control of manipulator is feasible. In spite of a pay load variation and strong static and dynamic couplings that exist between the joints.

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Study of Adaptive Learning Control for Robot-Manipulator (로봇 매니퓰레이터의 적응학습제어에 관한 연구)

  • 최병현;국태용;최혁렬
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 1996.11a
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    • pp.396-400
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    • 1996
  • It is prerequisite to apply dynamics controller to control robot manipulator required to perform fast and Precise motion. In this Paper, we Propose an adaptive 3earning control method for the dynamic control of a robot manipulator. The proposed control scheme is made up of PD controller in the feedback loop and the adaptive learning controller in the feedforward loop. This control scheme has the ability to estimate uncertain dynamic parameters included intrinsically in the system and to achieve the desired performance without the nasty matrix operation. The proposed method is applied to a SCARA robot and experimentally verified.

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A study on The Real-Time Implementation of Intelligent Control Algorithm for Biped Robot Stable Locomotion (2족 보행로봇의 안정된 걸음걸이를 위한 지능제어 알고리즘의 실시간 실현에 관한 연구)

  • Nguyen, Huu-Cong;Lee, Woo-Song
    • Journal of the Korean Society of Industry Convergence
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    • v.18 no.4
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    • pp.224-230
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    • 2015
  • In this paper, it is presented a learning controller for repetitive walking control of biped walking robot. We propose the iterative learning control algorithm which can learn periodic nonlinear load change ocuured due to the walking period through the intelligent control, not calculating the complex dynamics of walking robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of intelligent control to biped robotic motion is shown via dynamic simulation with 25-DOF biped walking robot.

Methods for Improvement of Speed Control System for D.C Motors using ${\mu}$ -processor (${\mu}$- processor를 이용한 직류전동기 속도제어시스템의 개선방안)

  • Kim, Jin-Sung;Kim, Pill-Soo;Baek, Soo-Hyun
    • Proceedings of the KIEE Conference
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    • 1988.07a
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    • pp.105-108
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    • 1988
  • In this paper, a control system design method is proposed for DC motor drive. A state space model is used to control sysytem and for closed loop system the technique of pole assignment is applied. The control system is designed with state feedback theory and to improve the response further more feedforward theory is applied to control system. The microprocessor as a controller and the interfaces in the system are proposed. Digital simulation results for step changes in reference velocity and load torque are shown.

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Design of a Real Time Adaptive Controller for Industrial Robot Using Digital Signal Processor (디지털 신호처리기를 사용한 산업용 로버트의 실시간 적응제어기 설계)

    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.5 no.4
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    • pp.26-37
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    • 1996
  • This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller. feedback controller. and PID type time-varying auxiliary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require a an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

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Inversion-Based Robust Output Tracking of Differentially Flat Nonlinear Systems

  • Joo, Jin-Man;Park, in-Bae;Park, Yoon-Ho
    • Transactions on Control, Automation and Systems Engineering
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    • v.3 no.1
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    • pp.21-26
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    • 2001
  • In this study, we propose a two degree of freedom robust output tracking control method for a class of nonlinear system. We consider hyperbolically nonminimum phase single-input single-output uncertain nonlinear systems. We also consider the case that the nominal input-state equation is differentially flat. Nominal stable state trajectory is obtained in the flat output space via the flat output. Nominal feedforward control input is also computed from the nominal state trajectory. Due to the nature of the method, the generated flat output trajectory and control input are noncausal. Robust feedback control is designed to stabilize the systems around the nominal trajectory. A numerical example is given is given to demonstrate that robust tracking is achieved.

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Adaptive Controller Design of the Flexible Robotic Manipulator (유연한 로보트 매니퓰레이터의 적응 제어기 설계)

  • 김승록;박종국
    • Journal of the Korean Institute of Telematics and Electronics B
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    • v.29B no.3
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    • pp.25-34
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    • 1992
  • This paper proposes a Self-Tuning control algorithm for tracking the reference trajectory by measuring the end-point of robot manipulator whose links are light and flexible, and the performance of it is tested through the computer simulation. As an object of system, a flexible robot manipulator with two-links is considered and an assumed mode shape method including gravity force is adopted to analyze the vibration modes for each links and dynamics equation is derived. The controller is designed as a combined form which consists of dynamic feedforward compensator and self-tuning feedback controller. The one supplies nominal torque and the other supplies variational torque to manipulator. Apart from the, K-incremental predictor is also proposed in order to eliminate the offset error. and it shows that the result of simulation adapted well to load change and rapid velocity.

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