• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.43.1-43
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• 2002

1. Introduction 2. Design of the Sensorized Microgripper 3. Sensing and Control of Position and Force 4. Experiments 5. Conclusions

• 한국생산제조학회지
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• 제19권5호
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• pp.645-652
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• 2010

For free motions, vibration suppression of single flexible manipulators has been one of the hottest research topics. However, for cooperative motions of multiple flexible manipulators, a little effort has been devoted for the vibration suppression control. So, the aim of this paper is to develop a hybrid force/position control and vibration suppression control scheme for multiple cooperation flexible manipulators handling a rigid object. In order to clarify the discussion, the motions of dual-arm experimental flexible manipulator are considered. Using the developed model, we control a robotic system with hybrid position/force control scheme. Finally, Experiments are performed, and a comparison of experimental results is given to clarify the validity of our control scheme.

• 한국정밀공학회지
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• 제27권12호
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• pp.48-58
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• 2010

In this study, position tracking and force reflection control of a master-slave manipulator which will be used for handling objects contaminated by radioactivity has been addressed. Since available measurements concerning on dynamic motion of the master-slave manipulator are restricted, a simple constrained control structure was suggested. In the consideration of the uncertain dynamic behaviors of the slave manipulator which is dependent upon mass and shape of work pieces grasped and dynamic properties of the environment contacted, a simple structured sliding mode control was suggested to guarantee robustness with respect to parameter uncertainties and external disturbances. The proposed control was applied to a 1-DOF master-slave link system. The control performances were verified along with some computer simulation results.

• 대한기계학회논문집
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• 제16권12호
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• pp.2315-2327
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• 1992

본 연구에서는 조립될 부품사이의 위치 오차를 극복하여, 로봇에 의한 정밀부 품의 자동조립을 가능하게 하는 조립알고리즘을 제시하였다. 제안된 조립알고리즘은 임의로 파지된 자세를 인식하여 조립될 축과 구멍의 중심선을 일치시키는 알고리즘과 복합위치 및 힘제어(hybrid position/force control)를 적용하여 위치오차를 극복하여 주는 구멍검색 알고리즘으로 구성하였으며, 로봇을 이용한 자동조립에 제안된 알고리 즘을 적용한 실험 결과를 보였다.

• 드라이브 ㆍ 컨트롤
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• 제12권4호
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• pp.21-27
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• 2015

The accurate position control of pneumatic driving apparatus is considered in this paper. In pneumatically actuated positioning systems, accurate positioning as an electrical servo has been known to be difficult because of the friction force and compressibility of the air. For good control performance of the pneumatic system, an actuator mounted with externally pressurized air bearings is produced to compensate for friction force. For the controller design, the governing equation of the pneumatic driving apparatus is derived. In order to reduce the nonlinear characteristics of the control valve, linearized control input is derived from the relation between the effective area of the valve and the control input. The experimental results are presented to show the results of the improved position control of the pneumatic driving apparatus.

• 대한물리의학회지
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• 제3권3호
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• pp.145-149
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• 2008

Purpose : The purpose of this study was evaluate the effects of vibration on joint position sense. Methods : The subjects were divided into vibration group(n=20) and control group(n=20). Vibration group was given local vibration on elbow joint for 15 minutes and control group was given resting 15 minutes by resting position. All subjects of each group were tested pre-post on maximal grip force and joint position sense. Results : Maximal grip force test and joint position sense test of vibration group was showed a significant difference between pre and post(p<0.05). Conclusion : There was a different change on maximal grip force and joint position sense.

• 제어로봇시스템학회논문지
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• 제6권10호
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• pp.894-902
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• 2000

This paper proposes a force reflection control method with a speed saturation compensation scheme for the slave manipulators having a speed saturation due to the high reduction ratio joints. When speed saturation is generated, the proposed force reflection control method not only shows an anti-windup feature in controlling the slave manipulator but also makes the master manipulator move slowly using the force reflection caused by saturation. In this way, the position of the slave manipulator tracks the reference position regardless of speed saturation. The experimental results show that the proposed control method provides excellent performance.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 춘계학술대회
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• pp.917-922
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• 2004

As the tasks of robots become more diverse, some complicated tasks have come to require force and position hybrid control. A compliant device can be used to control force and position simultaneously by separating the twist of the robot's end effector from the twist of compliance and freedom by using stiffness mapping of the compliant device. The development of a fuzzy gain scheduling scheme of control for a robot with a compliant device is described in this paper. Fuzzy rules and reasoning are performed on-line to determine the gain of twists based on wrench error and twist error and twist of compliance and twist of freedom ratio. Simulation results demonstrate that better control performance can be achieved in comparison with constant gain control.

• 한국지능시스템학회논문지
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• 제19권3호
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• pp.388-397
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• 2009

로봇 매니퓰레이터를 이용한 대부분의 작업은 환경과의 상호작용을 요구하며, 위치제어, 충돌제어 그리고 힘제어로 구성된다. 위치제어는 환경에 도착하는 방법을 의미하고, 환경에 접촉하는 순간은 충돌제어 문제를 야기하며, 힘제어는 환경과의 충돌후에 원하는 힘궤적을 유지하는 것이다. 이러한 세 가지 제어문제는 순차적으로 발생하므로, 각각의 제어 알고리즘은 독립적으로 개발되어야 한다. 특히 여자유도 매니퓰레이터에서 이러한 세 가지 제어문제는 독립된 중요한 연구 주제이다. 예를 들어, 관절 토크 최소화와 충격힘 최소화는 여자유도 매니퓰레이터의 대표적인 연구주제이다. 본 논문에서는 단일 작업을 통하여 세 가지 제어문제를 구성하였다. 위치제어는 각 관절의 토크와 토크변화 그리고 충돌 시의 충돌힘 최소화를 위하여 개발되었다. 따라서 충돌제어의 초기조건은 이전의 위치제어 알고리즘으로부터 최적화 되고, 그러한 제어 전략은 충돌제어의 결과를 개선시킨다. 유사하게, 힘제어 문제의 초기조건은 이전의 위치제어와 충돌제어로부터 간접적으로 최적화된다. 힘제어 알고리즘은 각 관절 토크와 힘외란 최소화시키는 개념을 사용하였다. 모의실험 결과는 제안된 알고리즘의 타당성을 보여준다.

• 한국정밀공학회지
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• 제17권7호
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• pp.189-195
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• 2000

For free motions, vibration suppression of flexible manipulators has been one of the hottest research topics. However, for constrained motions, a little effort has been devoted for vibration suppression control. Using the dependency of elastic deflections of links on contact force under static conditions, vibrations for constrained planar two-link flexible manipulators have been suppressed successfully by controlling the contact force. However, for constrained spatial multi-link flexible manipulators, the vibrations cannot be suppressed by only controlling the contact force. So, the aim of this paper is to clarify the vibration mechanism of a constrained, multi-DOF, flexible manipulator and to devise the suppression method. We apply a concise hybrid position/force control scheme to control a flexible manipulator modeled by lumped-parameter modeling method. Finally, a comparison between simulation and experimental results is presented to show the performance of our method.