• Journal of Electrical Engineering and information Science
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• 제2권6호
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• pp.14-19
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• 1997

In this paper, a new fuzzy sliding mode control algorithm is presented for trajectory control of robot manipulators. A fuzzy logic is applied to a sliding mode control algorithm to have the sliding mode gain adjusted continuously through fuzzy logic rules. With this scheme, te stability and the robustness of the proposed fuzzy logic control algorithm are proved and ensured by the sliding mode control law. The fuzzy logic controller requires only a few tuning parameters to adjust. Computer simulation results are given to show that the proposed algorithm can handle uncertain systems with large parameter uncertainties and external disturbances.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2907-2909
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• 2000

This paper proposes a force reflecting and compliant control scheme for the heavy-duty power manipulators with high ratio gear reducers at its joints. From the experimental results. it can be seen that the proposed scheme has an excellent compliant force control performance.

• 대한인간공학회지
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• 제32권1호
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• pp.17-26
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• 2013

Objective: The aim of this study is ergonomic analysis of tele-operation tasks using modified remote handling devices dedicated to the cell of PRIDE(PyRoprocess Integrated inactive DEmonstration facility) in KAERI(Korea Atomic Energy Research Institute). Background: Tele-operation manipulators of the PRIDE are applied to perform the remote handling and management of pyroprocessing facilities. Generally, these kinds of systems are composed of master-slave system and its peripherals installed along a wall or ceiling of the cell, and the manipulators transmit the user's own motion to grippers directly. However, a user convenience and intuitiveness while operating the manipulators have not been fully considered in research fields. Method: This study tries to analyze the ergonomic performance of remote handling manipulators in the developed cell facility. It was included that the analysis of operator's capability for his/her own motion range of upper arm while manipulating the MSM, considerations of its manipulation margin and related tool modifications to improve the remote handling performance. Conclusion: The test results of several remote handling tasks performed in PRIDE are represented, and adequate operation strategies for the tele-operation system of hot-cell type facilities are proposed. Application: The knowledge represented in this study can be utilized to improve a tele-operation system operated in a large-scale hot-cell system.

• Journal of Mechanical Science and Technology
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• 제17권7호
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• pp.999-1010
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• 2003

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. This 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 manipulators because hydraulic manipulators have the advantage of electric insulation and power/mass density. Meanwhile an electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous assembly tasks using hydraulic manipulators. In this paper, the robust force control of a 6-link electro-hydraulic manipulator system used in the real maintenance task of active electric lines is examined in detail. A nominal model for the system is obtained from experimental frequency responses of the system, and the deviation of the manipulator system from the nominal model is derived by a multiplicative uncertainty. Robust disturbance observers for force control are designed using this information in an H$\_$$\infty$/ framework, and implemented on the two different setups. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved even if the stiffness of environment and the shape of wall change.

• 한국통신학회논문지
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• 제19권8호
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• pp.1453-1463
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• 1994

본 연구에서는 로보트 시스템에게 인식기능을 부여하여 작업대상물의 위치와 방향이 임의적으로 변경되어도 사용자가 원하는 핸들링작업을 원활하게 수행할 수 있는 자동화시스템을 구현하는데 있다. 이를 위하여 작업대상물의 변화된 위치와 방향은 시각센서로서 검출하고, 화상처리과정에서 명도정보의 가변과 같은 주변여건의 변화때문에 발생하는 에지 추적 오차는 적절한 필터링 방법을 적용하여 최소화시켰다. 시각센서의 운용 프로그램은 인터럽트 기법으로 주변장치와 상호제어가 가능토록 구성하고, 시각센서에서 검출한 데이타는 아스키 포멧으로 로보트시스템에 전달되어 6자유도 매니플레이터의 툴 좌표계는 검출데이타와 비례하게 자동보성되어 작업대상물의 위치와 방향변화를 추종할 수 있도록 개발하였다. 본 연구에서 개발한 시스템 운용 알고리즘을 생산현장에 직접 적용한 결과 라인 밸런스의 향상과 산업재해방지를 위한 효과적이고 안정된 생산설비로써 운용될 수 있었다.

• 한국산학기술학회논문지
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• 제16권4호
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• pp.2370-2378
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• 2015

본 논문에서는 로봇 매니퓰레이터의 토크 최소화를 위한 궤적계획을 위해 라그랑지 보간법을 이용한 Algorithm을 제안하였다. 이를 위해 로봇 매니퓰레이터의 위치에 대한 구속조건이 주어지고 안정성이 보장되어야 한다. 라그랑지 보간법의 Runge's 현상을 회피하기 위해 Chebyshev 보간점을 이용하여 시간 보간점을 설정하였고, 이에 대응하는 최적각도를 찾아내어 라그랑지 보간법을 이용한 매끄러운 관절의 각도, 속도, 가속도 궤적을 얻을 수 있다. 로봇 매니퓰레이터의 토크 소비 최적화를 위한 성능지표를 선정하였으며, 계산된 궤적을 통해 이 성능지표가 최소값을 가지도록 반복 계산하는 과정을 거친다. 이를 통해, 토크와 성능지표를 최소화 시키는 최적의 궤적을 얻을 수 있으며, 로봇 매니퓰레이터가 작업을 수행하기 위한 움직임의 안전성을 보장한다.

• International Journal of Control, Automation, and Systems
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• 제1권1호
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• pp.68-75
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• 2003

This paper presents an effective trajectory planning algorithm for industrial robot manipulators. Given the end-effector trajectory in Cartesian space, together with the relevant constraints and task specifications, the proposed method is capable of planning the optimum end-effector trajectory. The proposed trajectory planning algorithm considers the joint acceleration limit, end-effector velocity limits, and trajectory allowance. A feedforward compensator is also incorporated in the proposed algorithm to counteract the delay in joint dynamics. The algorithm is carefully designed so that it can be directly adopted with the existing industrial manipulators. The proposed algorithm can be easily programmed for various tasks given the specifications and constraints. A three-dimensional test trajectory was planned with the proposed algorithm and tested with the Performer MK3s industrial manipulator. The results verified effective manipulator performance within the constraints.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1615-1620
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• 2003

Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This paper proposes a new device that can identify all kinematic parameters with partial pose measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The device, however, is general and can be used for other parallel manipulators. The proposed device consists of a link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When attached between the base and the mobile platform, the device restricts the end-effector's motion to five degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the identification is robust for the errors in the initial guess and the measurement noise. Intrinsic inaccuracies of the device can significantly deteriorate the calibration results. A measurement procedure is proposed and formulations of cost functions are discussed to prevent propagation of the inaccuracies to the calibration results.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2514-2518
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• 2003

The KAERI Spent Fuel Remote Technology Development (SFRTD) Department is developing the remote maintenance and repair equipment, which is used in a hot cell in an intense radiation field, as part of a project to develop the Advanced spent fuel Conditioning Process (ACP). Although several mechanical master-slave manipulators (MSMs) is mounted on the hot cell wall, their reach will be limited and cannot access areas for all the ACP equipment maintenance. A Bridge Transported ServoManipulator (BTSM) has been designed to overcome the limitation of access areas that is a drawback of MSMs for the ACP equipment maintenance. The BTSM system consists of four components: a transporter with telescoping tubeset, a slave manipulator, a master manipulator, and a remote control system. The BTSM system has been designed by Solid Edge that is a 3D computer-aided design (CAD) software, except for the remote control system. The master manipulator and the slave manipulator are kinematically similar in design, except for the handle and the tong, respectively. The manipulators have 6 degrees of freedom (DOF) plus the jaws motion. The transporter has traveling, traverse, and hoisting motion to position the slave manipulator.

• 전자공학회논문지SC
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• 제41권1호
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• pp.9-16
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• 2004

본 논문에서는 특징점 기반 시각 구동 제어 시스템을 이용하여 파라미터 불확실성을 가지는 로봇 매니플레이터에 대한 강인 제어기를 제안한다. 시스템 내부 서부 루틴인 동력학 제어부에 적분 작용을 포함시켜 파라미터 변동에 의한 로봇 매니플레이터의 정상 상태 오차를 개선하기 위하여 시스템 내부 서부 루틴인 동력학 제어부에 적분 작용을 포함되도록 하였다. 이적분 작용은 이미지 평면상의 특징점 추정 오차도 개선시킨다. 폐루프 시스템의 안정도는 Lyapunov 기법에 의하여 해석한다. 5링크 2 자유도의 로봇에 적용한 컴퓨터 시뮬레이션 및 실험을 통하여 제안된 제어기법의 실용성을 보인다. .