• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1997년도 춘계학술대회논문집; 경주코오롱호텔; 22-23 May 1997
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• pp.428-433
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• 1997

This paper presents a new control strategy for the position and force control of flexible manipulators. The governing equation of motion of a two-link flexible manipulator which features piezoceramic actuators bonded on each flexible beam is derived via Hamilton's principle. The control torque of the motor to command desired position and force is determined by a sliding mode controller on the basis of the rigid-mode dynamics. In the controller formulation, the sliding mode controller with perturbation estimation(SMCPE) is adopted to determine appropriate control gains. The SMCPE is then incorporated with the fuzzy technique to mitigate inherent chattering problem while maintaining the stability of the system. A set of fuzzy parameters and control rules are obtained from a relation between estimated perturbation and actual perturbation. During the commanded motion, undesirable oscillation is actively suppressed by applying feedback control voltages to the piezoceramic actuators. These feedback voltages are also determined by the SMCPE. Consequently, accurate force and position control of a two-link flexible manipulator are achieved. Computer simulations are undertaken in order to demonstrate the effectiveness of the proposed control methodology.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.1227-1233
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• 1993

In this paper we present the differential geometric approach for the analysis and design of sliding modes in nonlinear variable structure feedback systems. We also design the robust controller for the nonlinear system using variable structure control theory on the basis of differential geometric methods and feedback linearization applying Min-Max control based on the Lyapunov second method. The robustness against parameter uncertainties for robot manipulators with flexible joint is considered. Simulation results are presented and show the advantage of the proposed nonlinear control method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.152-155
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• 1994

The presence of joint elasticity or the arm flexibility causes low damped oscillatory position error along a desired trajectory. We utilize a stochastic model for describing the fast dynamics and the approximation error. A second order shaping filter is synthesized such that its spectrum matches that of the fast dynamics. Augmenting the state vector of slow part with that of shaping filter, we obtain a nonlinear dynamics to which a Gaussian white noise is injected. This modeling approach leads us to the design of an extended Kalman filter(KEF) and a linear quadratic Gaussian(LQG) control scheme. We present the simulation results of this control method. The simulation results show us that our Kalman filtering approach is one of prospective methods in controlling the flexible arms.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 제39회 하계학술대회
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• pp.1761-1762
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• 2008

In this paper, we propose an adaptive neural control method to solve this problem. It is assumed that the model uncertainties of the robots dynamics, joint flexibility, and motor dynamics are unknown. The dynamic surface design method is applied, and all uncertainties in the robot and motor dynamics are compensated by using the adaptive function approximation technique. Simulation results for three-link electrically driven flexible-joint (EDFJ) manipulators are provided to validate the effectiveness of the proposed control system.

• 한국정밀공학회지
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• 제12권5호
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• pp.117-125
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• 1995

An improved robust control law is proposed for uncertain rigid robots. The uncertainty is nonlinear and (possibly fast) time-varying. Therefore, the uncertain factors such as imperfect modeling, friction, payload change, and external disturbances are all addressed. Based on the possible bound of the uncertainty, the controller is constructed. For uncertain flexible-joint robots, some feedback control terms are then added to the proposed robust control law in order to stabilize the elastic vibrations at the joints. To show that the proposed control laws are indeed applicable, the stability study based on Lyapunov function, a singular perturbation approach, and simulation results are presented.

• 한국산업융합학회 논문집
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• 제19권2호
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• pp.69-74
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• 2016

This study proposes a new approach to design of the robust control application of a mobile manipulator with dual-arm. The mobil manipulator robot system consists of 12 DOF manipulators and a mobile robot. Kinematics of the robotics has been analyzed and simulated to verify reliability. A position-based torque control technique is applied to the robot by adding an outer loop to interact with the environment. Experimental studies of torque control applications of robot arm and interaction with a user operator are conducted. Experimental results has been proved that the robot arm performed regulated to follow the desired reference.

• 한국정밀공학회지
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• 제21권7호
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• pp.107-114
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• 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.

• 한국정보처리학회논문지
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• 제2권6호
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• pp.823-830
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• 1995

종래의 단순 조립 시스템과는 달리 유연한 조립 시스템의 단기 생산계획 수립시에 는 작업 순서, 작업할당, 라우팅, 실시간 제어등을 복합적으로 고려해야 유연한 시스템 의 장점을 최대한 활용할 수 있다. 그러나 이러한 복합적인 스케듈링 문제의 최적해는 구하기가 매우 어려울 뿐 아니라 최적해를 알고 있다. 하더라도 조립기기의 고장등과 같은 교란에 적절히 대응할 수 없다. 본고에서는 유연한 조립 시스템을 위해 단기 생산계획과 조립 작업의 순서, 그리고 manipulator에 대한 작업의 할당을 미리정하지 않고 순간 순간의 FAL의 상태에 따라 동적으로 결정함으로써 FAL의 효율을 높이는 동시 에 복잡한 단기 생산계획 수립을 배제할 수 있는 실시간 제어 방법을 제안한다., 이 방법은 어떤 manipulator에서 작업이 끝난 반제품의 다음 작업을 위한 목적 manipulator 는 두 manipulator 사이의 거리, 목적 manipulator 의 작업 수행시간과 당시의 부하, 그리고 필요한 부품의 유무등을 종합하여 manipulator들 사이의 부하를 균등하게 배분함 으로써 주어진 양의 제품을 가능한한 빠른 시간내에 조립할 수 있게 한다. 본고에서는 조립 공정의 특성과 FAL의 모델에 대해 서술한 후 실시간 제어를 위한 heuristic알고 리즘을 제시 하였으며 시뮬레이션을 통하여 제안한 알고리즘을 검증하였다. 시뮬레이 션 결과, 제안하는 동적 파일로팅을 통하여 복잡한 단기 생산 계획수립 없이도 FAL을 최적의 상태로 제어할수 있을 뿐 아니라 기기의 고장등의 같은 생산 환경의 변화에 잘 적용할 수 있음을 알수 있었다.

• Journal of Mechanical Science and Technology
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• 제16권12호
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• pp.1633-1642
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• 2002

Uninterrupted power supply has become indispensable during the maintenance task of active electric power lines as a result of today's highly information-oriented society and increasing demand of electric utilities. The maintenance task has the risk of electric shock and the danger of falling from high place. Therefore it is necessary to realize an autonomous robot system using electro-hydraulic manipulator because hydraulic manipulators have the advantage of electric insulation. Meanwhile it is relatively difficult to realize autonomous assembly tasks particularly in the case of manipulating flexible objects such as electric lines. In this report, a discrete event control system is introduced for automatic assembly task of electric lines into sleeves as one of the typical task of active electric power lines. In the implementation of a discrete event control system, LVQNN (linear vector quantization neural network) is applied to the insertion task of electric lines to sleeves. In order to apply these proposed control system to the unknown environment, virtual learning data for LVQNN is generated by fuzzy inference. By the experimental results of two types of electric lines and sleeves, these proposed discrete event control and neural network learning algorithm are confirmed very effective to the insertion tasks of electric lines to sleeves as a typical task of active electric power maintenance tasks.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.759-763
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• 1996

This paper presents a new approach to the design of neural control system using digital signal processors in order to improve the precision and robustness. Robotic manipulators have become increasingly important in the field of flexible automation. High speed and high-precision trajectory tracking are indispensable capabilities for their versatile application. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The TMS320C31 is used in implementing real time neural control to provide an enhanced motion control for robotic manipulators. In this control scheme, the networks introduced are neural nets with dynamic neurons, whose dynamics are distributed over all the network nodes. The nets are trained by the distributed dynamic back propagation algorithm. The proposed neural network control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the neural controller is illustrated by simulation and experimental results for a SCARA robot.