• Journal of Institute of Control, Robotics and Systems
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• v.2 no.4
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• pp.264-269
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• 1996

본 논문에서는 디스트리뷰션 인테그랄 서브매니폴드에 의하여 표현되는 마찰이 없는 면을 따라 강체 로봇 매니퓰레이터의 모션 제어에 대한 새로운 힘.위치 제어법칙은 힘/위치가 제어되는 방향으로 투영된 앤드 이팩트의 비선형 항을 정확하게 상쇄하도록 설계하였으며, 미분기하학을 이용하여 스무스 디스트리뷰션의 인테그랄 서브매니폴드 상에서의 새로운 모션 방정식을 제안하고 제안된 힘/위치 제어법칙에 대한 타당성을 컴퓨터 시뮬레이션을 통하여 검증한다.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.78.1-78
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• 2002

A quantitative performance evaluation of an intuitive robot teach method is presented. $\textbullet$ Teach times for two types of teach tasks are compared to the conventional teach pendant method. $\textbullet$ Teach tasks requiring a 4 DOF motion and a 6 DOF motion were tested. $\textbullet$ Compared to the teach pendant method, the proposed method reduce the teach times to 75% and 55%. $\textbullet$ The intuitive teach method is easier for the untrained robot users.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.5
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• pp.519-526
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• 1990

In this paper we propose the resolved motion controller using a neural network for a robot manipulator. Neural identifier designed by a neural network is trained by using a feedback force as an error signal. The identifier approximates the output of a unknown nonlinear system by monitoring both the input and the output of this system. If the neural network is sufficiently trained well, it does not require either strict modelling of the manipulator or precise parameter estimation. The effectiveness of the proposed controller is demonstrated by computer simulation using a two-link planar robot.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.340-345
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• 1998

A virtual reality system is implemented for the operator supervising a robot's operation at a remote site. For this implementation, a two D.O.F force-reflective joystick is designed to reflect the force/torque measured at the end of robotic manipulator and to generate the motion command for the robot by the operator using this joystick. In addition, the visual information that is captured by a CCD camera, is transmitted to the remote operator and is displayed on a CRT monitor. The operator who is holding the force reflective joystick and watching the CRT monitor can resolve unexpected problems that the robot confronts with. That is, the robot performs the tasks autonomously unless it confronts with unexpected events that can be resolved by only the operator. To demonstrate the feasibility of this system, a remote peg-in-hole operation is implemented and the experimental data are shown.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1621-1623
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• 1997

Use of teaching pendant is the most widespread and economical way to teach desired motion to robots. It is also very primitive,time consuming and ineffective way of teaching which has not changed since the early days of robot. In order to reduce the teaching effor, a new efficient form of teaching is needed. Also, the recent robotics research trend into service robots such as home robot, nurse robot and medical robot calls for a new teaching method which is both easy and inexpensive. In this paper, the design and operation principle of a low cost force/moment sensor is presented. The proposed sensor architecture is so simple and inexpensive that it opens the prospect for a new paradigm of robot teaching which is easy and efficinet. Other prospective areas of application are tele-manipulation of robots wher it can be used in master arm, and virtual environment where it can be used as an user input device.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.8 no.2
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• pp.44-49
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• 1999

This paper is concerned with the theoretical and experimental study on the force conrtrol of a miniature robotic gripper. The gripper is an uniform flexible cantilever equipped with a distributed set of compact force sensor. As an actuator piezoelectric acturator, piezoelectric acturator is fixed with cupper plate at which the beam is clamped. The mathematical model of the assembled electro-mechaincal system is developed. The force sensor is described by a set of concentrated mass-spring system. The formulated equations of motion are applied to he study of a control problem where the gripper is commanded to grip an object The usefulness of the PID control technique is verified by experiment.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.1008-1013
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• 1992

본 논문에서는 다중 로보느의 협조제어(Coordinated Control)를 위한 로보트 콘트롤러의 설계에 대해서 연구한다. 첫 부분에서는 다중 로보느의 연구배경 및 연구동기에 대해서 논의하고 이어서 Coordinated Task를 묘사하기 위한 Programming Primiitive Set을 정의하며 구현에 대해서도 논의한다. 특히 Motopn Primitive는 synchronous(Coordinated Motion), Asynchronous Motion, Conditional Motion, 특수 Motion으로 분류하고, 각각의 궤적계획 및 구현에 대해서도 간단히 논의한다. 특히 본 논문에서는 외부의 변화하는 환경에 효과적으로 적응할 수 있게 하기 위하여 Vision센서, Encoder신호와 Limit센서, Force센서 등의 다양한 외부 센서를 융합 처리할수 있는 다중 로보트 제어 시스템을 개발하였다.

• Journal of Electrical Engineering and Technology
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• v.13 no.2
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• pp.1008-1020
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• 2018

In this paper, the dynamic compliance and its compensation control of the force control system on the highly integrated valve-controlled cylinder (HIVC), the joint driver of the hydraulic drive legged robot, is researched. During the robot motion process, the outer loop dynamic compliance control is applied on the base of hydraulic control inner loop and most inner loop control are the force or torque closed loop control. While the dynamic compliance control effectiveness of outer loop can be affected by the inner loop self-dynamic-compliance. Based on this problem, the dynamic compliance series composition theory of HIVC force control system as well as the analysis of its self-dynamic-compliance is proposed. And then the paper comes up with the compliance-enhanced control, which is a compound compensation control method of dynamic compliance with multiple series branches. Finally, the experiment results indicate that the control method mentioned above can enhance the dynamic compliance of HIVC force control system observably. This provides the compensation control method of inner loop dynamic compliance for the outer loop compliance control requiring the high accuracy and high robustness for the robot.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.20-25
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• 1998

This paper proposes a new compliant contact control strategy for the robot manipulators accidentally interacting with an unknown environment. The main features of the proposed method are summarized as follows: First, each entry in the diagonal stiffness matrix corresponding to the task coordinate in Cartesian space is adaptively adjusted during con-tact along the corresponding axis based on the contact force with its environment. Second, it can be used for both unconstrained and constrained motions without any switching mechanism which often causes undesirable instability and/or vibrational motion of the end effector. Third, the adjusted stiffness gains are automatically recovered to initially specified stiffness gains when the task is changed from constrained motion to unconstrained motion. The simulation results show the effectiveness of the proposed method by employing a two-link direct drive manipulator interacting with an unknown environment.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.174-178
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• 1991

In this paper, we present a unified approach for the control of manipulator motions and active forces based on the operational space formulation. The end-effector dynamic model is used in the development of a control system in which the generalized operational space end-effector forces are selected as the command vector. A "generalized position and force specification matrix" is used for the specification of space of motions and forces in which manipulator is to be controlled. Flexibility in the force sensor, end-effector, and environment are discussed.discussed.