• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.89-92
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• 1996

In this paper, we developed visual tracking algorithm using double active bar. The active bar model to represent the object can reduce the search space of energy surface and better performance than those of snake model. However, the contour will not find global equilibrium when driving force caused by image may be weak. To overcome this problem. Double active bar is proposed for finding the global minimum point without any dependence on initialization. To achieve the goal, an deformable model with two initial contours in attempted to search for a global minimum within two specific initial contours. This approach improve the performance of finding the contour of target. To evaluate the performance, some experiments are executed. We can achieved the good result for tracking a object on noisy image.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.660-663
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• 1996

There has been many activity to increase accuracy in machining center by reducing tracking error. The tracking error can cause bad effect in high speed rigid tapping in which syncronization servo motor with spindle is relatively important. To reduce tracking error, feed forward control has been used, but no method is provided knowing motor dynamics, force variation, etc. In this paper, we observe that, despite of tracking error of relevant axis, high speed tapping could be possible by reducing contour error of axis to be syncronized. We present the method to increase accuracy in high speed tapping to minimize contour error by automatically fitting gains of servo and spindle.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.789-794
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• 2014

This paper presents some real performance of two typical bilateral teleoperation benchmark tasks: peg-in-hole and surface tracking tasks. The tasks are performed by an energy-bounding algorithm in the master control and position-based impedance algorithm in the slave control. Performance is analyzed for the position-force tracking capabilities from free space motion to surface contacting motion. In addition, preliminary user performance is evaluated by measuring the completion time and maximum/average contact forces. The quality of the measured performance is also compared with that of other existing approaches.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.05a
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• pp.195-199
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• 2004

Recently, optical disc drives are required to have high density and capacity in according with development of high definition images and rapid increase of various informations. Consequently, the numerical aperture becomes larger, the wavelength of laser is coming to be short. However, it deteriorates rolling mode effect on an optical pickup actuator. Therefore, this paper proposes new design and optimization of tracking coils for reducing it. First, we verify that discord between the center of force and the center of mass by restrictions of design condition is an important factor of rolling mode effect. Then, in order to reduce it, we propose new design parameters of tracking coils. Finally, we reduce rolling mode effect through optimization of tracking coils using Taguchi method and response surface method.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.4
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• pp.290-296
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• 2005

This paper presents the implementation of a crack tracking mobile robot. The crack tracking robot is built for tracking cracks on the pavement. To track cracks, crack must be detected by laser and camera sensors. Laser sensor projects laser on the pavement to detect the discontinuity on the surface and the camera captures the image to find the crack position. Then the robot is commanded to follow the crack. To detect crack position correctly, neural network is used to minimize the positional errors of the captured crack position obtained by transformation from 2 dimensional images to 3 dimensional images.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.3
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• pp.190-194
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• 2013

This paper presents experimental results of the attitude control for a two-rotor system with 3-DOF(degree-of-freedom). Two DC motors are equipped at the two ends of a rectangular beam to generate lift force and the relation between motor voltage and lift force is found experimentally. And inertial sensors are mounted at the center of the beam to measure the roll angle and a complementary filter is designed to get the angle during DC motors driving. A controller with nonlinear compensation, integrator and state feedback to achieve asymptotic tracking for a step input and reject input disturbance is designed and experimented.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1640_1641
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• 2009

Dynamic friction and force ripple are the most predominant factors that affect the positioning accuracy of permanent magnet synchronous motor(PMSM) servo drives system, and it is desirable to compensate them in finite time with a continuous control law. In this paper, based on LuGre dynamic friction model, a robust adaptive skidding mode controller is proposed to compensate the nonlinear effect of friction and force ripple. The controller scheme consists of a PD component and a robust adaptive sliding mode controller for estimating the unknown system parameter. Using Lyapunov stability theorem, asymptotic stability analysis and position tracking performance are guaranteed. Simulation results well verify the feasibility and the effectiveness of the proposed scheme for high0precision motion trajectory tracking.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.8
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• pp.482-491
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• 2003

In this paper are presented kinematic and dynamic modeling and path-tracking of four-wheeled mobile robots with 2 d.o.f haying the limited drive-torques. Controllability of wheeled-mobile robots is revealed by the kinematic model. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to drive the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.8 no.1
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• pp.100-111
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• 1999

This paper resents a discrete-time model of an edge-following with accommodation force control. Since an irregular workpiece shape causes disturbances to the system while following an edge, the use of preview control is proposed to improve the system performance. The preview control employs future information of the workpiece contour shape, and it can be developed by LQ-optimal control principles. This study provides a general method how to utilize the local future information obtained by the finite preview to minimize an optimality criterion evaluated over a problem duration. The force controller is designed based on the preview control scheme, and then implemented on a VME-based computer. Experimental results using an industrial robot show that the preview control system achieves faster tracking speed and better force regulation than the conventional nonpreview control system.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.23 no.1
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• pp.41-48
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• 2013

In this work, 4-DOF ER haptic master is proposed and integrated with a slave robot for minimally invasive surgery(MIS). Using a controllable ER fluid, the haptic master can generate a repulsive force/torque with the 4-DOF motion. For realization of master-slave robot system, the motion command of the haptic master is realized by slave surgery robot. In order to follow the 4-DOF motion of the haptic master, novel mechanism of slave surgery robot with gimbal joint is devised. Accordingly, the haptic master-slave robot system is established by incorporating the slave robot with the haptic master device in which the desired repulsive force/torque and position are transferred to each other via wireless communications. In order to obtain the desired force/torque and position trajectories, tracking controllers for haptic master and slave robot are designed and implemented, respectively. It has been demonstrated that the desired effective torque tracking control performance is well achieved using the proposed haptic master-slave robot system.