• Journal of Mechanical Science and Technology
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• 제17권11호
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• pp.1682-1692
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• 2003

This paper proposes an adaptive controller for partially known system and applies to a two-wheeled Welding Mobile Robot (WMR) to track a reference welding path at a constant velocity of the welding point. To design the tracking controller, the errors from WMR to steel wall is defined, and the controller is designed to drive the errors to zero as fast as desired. Additionally, a scheme of error measurement is implemented on the WMR to meet the need of the controller. In this paper, the system moments of inertia are considered to be partially unknown parameters which are estimated using update laws in adaptive control scheme. The simulations and experiments on a welding mobile robot show the effectiveness of the proposed controller.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.1114-1119
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• 1995

This paper presents the development of estimation model and control method based on the new computer vision. This proposed control method is accomplished using a sequential estimation scheme that permits placement of the rigid body in each of the two-dimensional image planes of monitoring cameras. Estimation model with six parameters is developed based on a model that generalizes known 4-axis scara robot kinematics to accommodate unknown relative camera position and orientation, etc. Based on the estimated parameters,depending on each camers the joint angle of robot is estimated by the iteration method. The method is tested experimentally in two ways, the estimation model test and a three-dimensional rigid body placement task. Three results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as assembly and welding.

• 한국정밀공학회지
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• 제12권10호
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• pp.25-31
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• 1995

In this paper, a direct drive scalar robot manipulator is constructed and its mechanical machanism for operation is explained. Also, a motion controller board for the direct drive robot manipulator was developed where the IBM 486 computer is the main controller. For the developed direct drive robot, a force/motion control algorithm based on an active compliance scheme is developed. A preliminary experiment using the developed direct drive for a peg-in-hole job was done by implementing the control algorithm.

• 한국안전학회지
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• 제31권5호
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• pp.28-34
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• 2016

When a electric power cable is installed in the air for newly or exchanged working, it is necessary at all time to hold a constant tension for an overhead power cable. And also a pendanted power cable is an extreme job to have work in a high sky. For this reason, the objective of this paper developments working robot for preventing disaster that tension of cable installed automatically power cable to hold a constant. So the working robot works at all the time two tasks for mobil and tension it come into a inference between two tasks, control is difficult. Control methode needs to suppress inference of two tasks. In this paper, for installation of overhead power cable, the scheme and control methode of working robot is presented. the robot work at a same time tow tasks that have hold a constant tension of the power cable and move a constant place while unfasten a winding cable at a drum on a chassis. Working robot consist of three parts with mobile system, tension system and control part. As it is applied the feedback/feedforward control, methode of hybrid control is established to suppress that interference come into between two tasks. The simulation programs is made out using models of mobil and tension system, and a proposed controllers. In accordance with simulation, the model of each systems is discussed to make out proper. And also parameters of controllers is selected a suitable value and the driving performance of robot is evaluated.

• 제어로봇시스템학회논문지
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• 제6권5호
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• pp.415-425
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• 2000

An open architecture manufacturing strategy intends to integrate manufacturing components on a single platform so that a particular component can be easily added and/or replaced. Therefore, the control scheme based upon the open architecture concept is hardware-independent. In this paper, a modular and object oriented approach for a PC-based open robot control system is investigated. A standard reference model for robot systems, which consists of three modules; hardware module, operating system module, and application software module, is first proposed. Then, a PC-based Open Robot Controller(PC-ORC), which can reconfigure robot control systems in various production environments, is developed. The PC-ORC is built upon the object-oriented method, and allows an easy implementation and modification of various modules. The PC-ORC consists of basic softwares, application objects, and additional hardware device on the PC Platform. The application objects are: sequencer, computation unit, servo control, ancillary equipment, external sensor control, and so on. In order to demonstrate the applicability of the PC-ORC, the proposed PC-ORC configuration is applied to an industrial SCARA robot system.

• 드라이브 ㆍ 컨트롤
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• 제15권3호
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• pp.1-7
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• 2018

Humanoid robots have fascinated many researchers since they appeared decades ago. For the requirement of both accurate tracking control and the safety of physical human-robot interaction, torque control is basically desirable for humanoid robots. Humanoid robots are highly nonlinear, coupled, complex systems, accordingly the calculation of robot model is difficult and even impossible if precise model of the humanoid robots are unknown. Therefore, it is difficult to control using traditional model-based techniques. To realize model-free torque control, time-delay control (TDC) for humanoid robot was proposed with time-delay estimation technique. Using optimal walking trajectory obtained by particle swarm optimization, TDC with proposed scheme is implemented on whole body of a humanoid, not on biped legs even though it is performed by a virtual humanoid robot. The simulation results show the validity of the proposed TDC for humanoid robots.

• 드라이브 ㆍ 컨트롤
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• 제13권4호
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• pp.52-58
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• 2016

The mechanical design for biped walking of a humanoid robot doing the Argentina Tango is presented in this paper. Biped walking has long been studied in the area of robotic locomotion. The aim of this paper is to implement an Argentina Tango dancer-like walking motion with a humanoid robot by using a trajectory generation scheme. To that end, this paper uses blending polynominals whose parameters are determined based on PSO (Particle Swarm Optimization) according to conditions that make the most of the Argentina Tango's characteristics. For the stability of biped walking, the ZMP (Zero Moment Point) control method is used. The feasibility of the proposed scheme is evaluated by simulating biped walking with the 3D Simscape robot model. The simulation results show the validity and effectiveness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1785-1789
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• 1991

Recently, a number of papers on adaptive control scheme of manipulators are proposed. Slotine and Li[1] showed an adaptive control scheme for robot manipulator. The controller was described in closed form. And later Niemeyer and Slotine discussed about a computational implementation of the controller in recursive form[2]. Walker proposed another adaptive control scheme which can be implemented by a recursive-form controller[4]. Closed-form description is used for the analysis or design of adaptive control systems while recursive-form realization is used for implementation of the controller. The relation between the closed-form realization and the recursive-form one seems to be inadequately referred. Hence, it makes sense to consider the relation between the closed-form description and the recursive-form one. In this paper, first, we make a simple derivation of an closed-form dynamics description of a robot arm from its recursive-form description. And then we derive the closed-form realization of Walker's scheme applied to manipulators having no kinematic loop. We clarify the difference between the Walker's scheme and Slotine's and evaluate the convergence under the controllers.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.470-473
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• 1996

This paper presents an iterative learning control scheme for industrial manipulators. Based upon the frequency-domain analysis, the input update law of the learning controller is given together with a sufficient condition for the convergence of the iterative process in the frequency domain. The proposed learning control scheme is structurally simple and computationally efficient since it is independent joint control depending only on locally measured variables and it does not involve the computation of complicated nonlinear manipulator dynamics. Moreover, it is capable of canceling the unmodeled dynamics of the manipulator without even the parametric model. Several important aspects of the learning scheme inherent in the frequency-domain design are discussed and the control performance is demonstrated through computer simulations.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1990년도 하계학술대회 논문집
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• pp.504-509
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• 1990

This paper presents a decentralized adaptive control scheme for multi-Joint robot manipulators based on the independent joint control scheme. The control object is to achieve accurate tracking of desired Joint trajectories. The proposed control scheme does not use the complex manipulator dynamic model, and each joint is controlled simple by a feedback controller which ensure stable and also a position-velocity-acceleration feedforward controller and also auxiliary signal, with adjustable gains. Simulation results are given for a two-link manipulator under independent control, proposed decentralized adaptive control of manipulator is feasible. In spite of a pay load variation and strong static and dynamic couplings that exist between the joints.