• 전기학회논문지
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• 제58권8호
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• pp.1605-1614
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• 2009

The technique of simultaneous localization and mapping is the most important research topic in mobile robotics. In the process of building a map in its available memory, the robot memorizes environmental information on the plane of grid or topology. Several approaches about this technique have been presented so far, but most of them use mapping technique as either grid-based map or topology-based map. In this paper we propose a frame of solving the SLAM problem of linking map covering, map building, localizing, path finding and obstacle avoiding in an automatic way. Some algorithms integrating grid and topology map are considered and this make the SLAM performance faster and more stable. The proposed scheme uses an occupancy grid map in representing the environment and then formulate topological information in path finding by A${\ast}$ algorithm. The mapping process is shown and the shortest path is decided on grid based map. Then topological information such as direction, distance is calculated on simulator program then transmitted to robot hardware devices. The localization process and the dynamic obstacle avoidance can be accomplished by topological information on grid map. While mapping and moving, pose of the robot is adjusted for correct localization by implementing additional pixel based image layer and tracking some features. A laser range finer and electronic compass systems are implemented on the mobile robot and DC geared motor wheels are individually controlled by the adaptive PD control method. Simulations and experimental results show its performance and efficiency of the proposed scheme are increased.

• 제어로봇시스템학회논문지
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• 제10권12호
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• pp.1256-1263
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• 2004

Output feedback passivation problem is studied when the given system is not minimum-phase or does not have relative degree one. Using a parallel connection with an additional dynamics, the authors provide a dynamic output feedback control law which renders the composite system passive. Sufficient conditions are presented under which the composite system is output feedback passive. As an application of the dynamic passivation scheme, a point-to-point control law for a flexible joint robot is presented when only the position measurements are available. This provides an alternative way of replacing the role of the velocity measurements for the proportional-derivative (PD) feedback law. The performance of the proposed control law is illustrated in the simulation studies of a manipulator with three revolute elastic joints.

• International Journal of Control, Automation, and Systems
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• 제5권6호
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• pp.718-724
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• 2007

We extend the application of an adaptive controller previously introduced in the literature under the assumption that no actuator dynamics exists to the case when the dynamics of the brushed DC-motors used as actuators is not neglected. Convergence to the desired positions is ensured without requiring any feedback to cope with the additional electric dynamics. The proposed control scheme does not require the exact knowledge of neither robot nor actuator parameters to select controller gains.

• 동력기계공학회지
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• 제7권1호
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• pp.34-41
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• 2003

A method is presented for generating the path which significantly reduces residual vibration of a flexible robot manipulator and applying control theory to track the desired path. The desired path is optimally designed so that the system completes the required move with minimum residual vibration. A closed loop control theory is applied to track the planned path in the case of load variation. Specifically, it is desired that the optimally designed path has a better trajectory tracking capabilities during the residual vibration over the cycloidal path, in various cases of load. Perturbation adaptive control is used as closed loop control scheme. A planar two link manipulator is used to evaluate this method.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.872-875
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• 1995

The strategy of open architecture control system 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 is neither hardware dependent nor software dependent. In this paper a modular and object oriented approach for the open architecture structure of control systems is invesigated. A standard reference model for genetic manufacturer system, which consists of three modules; hardware module, operating system module, and application software module, is first proposed. Then a standard reference model for open architecture robot control system is suggested.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.566-571
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• 1994

This paper presents in image-based visual servo control scheme for tracking a workpiece with a hand-eye coordinated robotic system using the fuzzy-neural-network. The goal is to control the relative position and orientation between the end-effector and a moving workpiece using a single camera mounted on the end-effector of robot manipulator. We developed a fuzzy-neural-network that consists of a network-model fuzzy system and supervised learning rules. Fuzzy-neural-network is applied to approximate the nonlinear mapping which transforms the features and theire change into the desired camera motion. In addition a control strategy for real-time relative motion control based on this approximation is presented. Computer simulation results are illustrated to show the effectiveness of the fuzzy-neural-network method for visual servoing of robot manipulator.

• 한국생산제조학회지
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• 제24권5호
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• pp.548-552
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• 2015

In this paper, we describe the quadruped walking-control algorithm of the complete full-size humanoid DARPA Robotics Challenge-HUBO (DRC-HUBO) robot. Although DRC-HUBO is a biped robot, we require a quadruped walking function using two legs and two arms to overcome uneven terrains in the DRC. We design a wave-type quadruped walking pattern as a feedforward control using several walking parameters, and we design zero moment point (ZMP) controllers to maintain stable walking using an inverted pendulum model and an observed-state feedback control scheme. In particular, we propose a switching algorithm for ZMP controllers using supporting value and weighting factors in order to maintain the ZMP control performance during foot switching. Finally, we verify the proposed algorithm by performing quadruped walking experiments using DRC-HUBO.

• 전자공학회논문지S
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• 제35S권8호
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• pp.32-38
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• 1998

본 논문에서는 파라미터 불확실성이 유한한 n-링크 로봇 매니퓰레이터의 궤적제어를 위한 강인제어기를 설계하였다. 적분제어를 포함하는 제안된 기법은 강인제어 이득이 제한됨으로써 발생되는 추종오차를 개선한다. 또한 채터링을 제거하기 위해 불연속 제어입력을 연속 제어입력으로 치환하는 경우 발생되는 추종오차도 개선한다. 추종오차의 적분이 오차 시스템에 포함되도록 하고 폐루프 시스템의 안정도를 해석하였으며 제안된 기법의 성능을 2-링크 매니퓰레이터에 대한 시뮬레이션을 통하여 입증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.241-244
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• 1997

A dead reckoning navigation system is developed for autonomous mobile robot localization. The navigation system was implemented by novel sensor fusion using a Kalman filter. A differential encoder and the gyroscope error models are developed for the filter. An indirect Kalman filter scheme is adopted to reduce the computational burden and to enhance the navigation system reliability. The filter mutually compensates the encoder errors and the gyroscope errors. The experimental results show that the proposed mobile . robot navigation algorithm provides the reliable position and heading angle of the mobile robot without any help of the external positioning systems.

• 한국정보기술응용학회:학술대회논문집
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• 한국정보기술응용학회 2005년도 6th 2005 International Conference on Computers, Communications and System
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• pp.113-117
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• 2005

This paper describes a visual control scheme, fuzzy logic system for visual servoing of an autonomous mobile robot. An existing communication autonomous mobile robot always needs to keep the object in image to detect the moving object. This is a problem in an autonomous mobile robot for spontaneous activity. To solve it, some features for an object are taken from an image and then use in the design of fuzzy logic system for decision of moving location and direction of visual servoing contrivance(apparatus). So continuous tracking is possible by moving the visual servoing contrivance. We present some simulation results and further studies in the Section of Simulation and Concluding Remarks.