• 한국멀티미디어학회논문지
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• 제4권6호
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• pp.570-578
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• 2001

경계 주사 구조(Boundary Scan Architecture)기 법은 복잡한 인쇄 회로 기판(PCB : Printed Circuit Board)을 테스트하기 위해 도입되었다. 이러한 경계 주사 구조는 시스템의 정상 동작에 간섭을 주지 않고 시스템의 동작 상태를 실시간 모니터링 하는데 대단한 잠재력을 지니고 있다. 본 논문에서는 경계 주사 구조를 이용하여 시스템의 작동 상태를 실시간으로 모니터 하기 위한 새로운 실장 제어기를 제안하고 설계한다. 제안된 실시간 모니터링 실장 제어기는 경계 주사 구조의 경계 주사 셀 제어기(Test Access Port Controller)와 범용 실장 제어기(Embedded Controller)로 구성되어 있다. 제안된 경계 주사 구조를 이용한 실시간 모니터링 실장제어기는 하드와이어의 자원을 절약해 주고 경계 주사 구조를 지니고 있는 칩에 쉽게 인터페이스 된다. 실험 결과는 제안된 실장제어 기가 시스템의 동작 상태를 실시간 모니터 하는데 호스트 컴퓨터에 의한 모니터 링에 비해 효과적임을 보여준다.

• 한국소음진동공학회논문집
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• 제14권4호
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• pp.267-275
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• 2004

This research is concerned with the development of a real-time adaptive PPF controller for the active vibration suppression of smart structure. In general, the tuning of the PPF controller is carried out off-line. In this research, the real-time learning algorithm is developed to find the optimal filter frequency of the PPF controller in real time and the efficacy of the algorithm is proved by implementing it in real time. To this end, the adaptive algorithm is developed by applying the gradient descent method to the predefined performance index, which is similar to the method used popularly in the optimization and neural network controller design. The experiment was carried out to verify the validity of the adaptive PPF controller developed in this research. The experimental results showed that adaptive PPF controller is effective for active vibration control of the structure which is excited by either impact or harmonic disturbance. The filter frequency of the PPF controller is tuned in a very short period of time thus proving the efficiency of the adaptive PPF controller.

• 소음진동
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• 제11권1호
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• pp.147-155
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• 2001

This paper is concerned with the real-time automatic tuning of the multi-input multi-output positive position feedback controllers for smart structures by the genetic algorithms. The genetic algorithms have proven its effectiveness in searching optimal design parameters without falling into local minimums thus rendering globally optimal solutions. The previous real-time algorithm that tunes a single control parameter is extended to tune more parameters of the MIMO PPF controller. We employ the MIMO PPF controller since it can enhance the damping value of a target mode without affecting other modes if tuned properly. Hence, the traditional positive position feedback controller can be used in adaptive fashion in real time. The final form of the MIMO PPF controller results in the centralized control, thus it involves many parameters. The bounds of the control Parameters are estimated from the theoretical model to guarantee the stability. As in the previous research, the digital MIMO PPF control law is downloaded to the DSP chip and a main program, which runs genetic algorithms in real time, updates the parameters of the controller in real time. The experimental frequency response results show that the MIMO PPF controller tuned by GA gives better performance than the theoretically designed PPF. The time response also shows that the GA tuned MIMO PPF controller can suppress vibrations very well.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.13-16
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• 1989

The paper, introduce the real time controller Design method of heavy load 6-DOF motion simulator. And also, introduce the Geometric design of 6-DOF Motion generation, real time control A algorithm and the configuration method of real time controller H/W and S/W.

• 대한임베디드공학회논문지
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• 제8권6호
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• pp.295-301
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• 2013

In this paper, we propose a real-time centralized soft motion control system for high speed and precision robot control. The system engages EtherCAT as high speed industrial motion network to enable force based motion control in real-time and is composed of software-based master controller with PC and slave interface modules. Hard real-time control capacity is essential for high speed and precision robot control. To implement soft based real time control, The soft based master controller is designed using a real time kernel (RTX) and EtherCAT network, and servo processes are located in the master controller for centralized motion control. In the proposed system, slave interface modules just collect and transfer all sensor information of robot to the master controller via the EtherCAT network. It is proven by experimental results that the proposed soft motion control system has real time controllability enough to apply for various robot control systems.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.741-746
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• 2004

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

• 제어로봇시스템학회논문지
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• 제3권4호
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• pp.373-380
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• 1997

In order to implement the real-time operating systems for robot controller, this paper proposes a systematic method for implementing the real-time kernel under the DOS environment. So far, we designed the robot control software and its own operating system simultaneously. Though robot operating systems have simple structure, it allows the developer to have a surplus time and effort to implement complete robot systems. In addition to this, in most cases of this type, operating systems does not support multitasking function, thus, low level hardware interrupts are used for real-time execution. Subsequently, some kinds of real-time tasks are hard to implement under this environment. Nowadays, the operating systems for robot controller requires multitasking functions, intertask communication and task synchronization mechanism, and rigorous real-time responsiveness. Thus, we propose an effective and low costs real-time systems for robot controller satisfying the various real-time characteristics. The proposed real-time systems are verified through real implementation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2540-2545
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• 2003

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

• 전기학회논문지P
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• 제57권2호
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• pp.109-114
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• 2008

In this paper, a dynamic learning controller for robot manipulator is implemented using real-time operating system with capabilities of multitasking, intertask communication and synchronization, event-driven, priority-driven scheduling, real-time clock control, etc. The controller hardware system with VME bus and related devices is developed and applied to implement a dynamic learning control scheme for robot manipulator. Real-time performance of the proposed dynamic learning controller is tested and evaluated for tracking of the desired trajectory and compared with the conventional servo controller.

• 소음진동
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• 제10권6호
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• pp.1083-1093
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• 2000

이 논문은 지능구조물의 실시간 적응진동제어를 위해 유전자 알고리즘을 이용하여 Positive Position Feedback(PPF) 제어기를 조정하는 것과 관련이 있다. 유전자 알고리즘은 최적변수를 찾는데 있어 국소 최소점이 아닌 전체적인 최적점을 찾을 수 있는 능력이 있다. PPF 제어기는 다른 진동모드에 영향을 주지 않으면서 특정 진동모드의 감쇠를 증가시킬 수 있는 장점을 가지고 있는 반면에 효과적인 진동제어를 위해서는 제어하고 자하는 진동모드의 고유진동수를 정확히 알아야하는 단점이 있다. 본 연구에서는 유전자 알고리즘을 이용하여 실시간으로 PPF 제어기가 필요로 하는 변수값을 추적할 수 있는 알고리즘을 개발하여 그 타당성을 실험으로 증명하였다. 실험결과는 PPF 제어기의 실시간 조정이 성공적으로 이루어져 진동제어가 효과적으로 이루어졌음을 보여주고 있다.