• 한국지능시스템학회논문지
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• 제17권4호
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• pp.500-505
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• 2007

현재 휴머노이드 로봇기술은 로봇의 제작과 기술의 구현에만 초점이 맞추어져 있으며, 로봇 개발을 위한 분석, 설계, 구현, 통합 등의 개발 메커니즘들에 대한 개방화된 방법론은 개발되어 않았다는 문제점이 있다. 본 논문에서는 현재까지 나타난 휴머노이드 로봇의 문제점을 극복하고, 미래형 로봇의 발전방향인 "개방화", "네트워크화", "모듈화" 개념을 만족하는 새로운 구조를 설계하기 위한 인간 팔의 형태학적 신경학적 모델을 제시하고 이를 기반으로 로봇의 각 관절 설계와 기구학적 모델에 의한 휴머노이드 로봇 팔의 설계 방법을 제시하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 춘계학술대회 논문집
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• pp.1175-1176
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• 2012

• 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.

• 전자공학회논문지S
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• 제34S권1호
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• pp.54-64
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• 1997

In this paper, a method of dynamic modeling and a dynamic control of a mobile robot are presented to show the superiority of the dynamic control comparing to the PD control. This dynamic model is derived from the cartesian coordinates using lagrange equations. Based upon the derived dynamic model, we implemented the dynamic control of the mobile robot using the computed torque method. Time varying non-linear friction terms are not incroporated in this dynamic model. Instead, those are considered as disturbances. This uncertainty in dynamic model of mobile robot is compensated by the outer loop controller using PD algorithm. The validity of this model and the control algorithm are confirmed through the experiments, where the dynamic control algorithm demonstrated robust velocity tracking performance against the unmodeled non-linear frictions. The superiority of this algorithm is demonstrated by comparing to classical PD control algorithm.

• 제어로봇시스템학회논문지
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• 제15권1호
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• pp.72-81
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• 2009

This paper presents a robust adaptive control method using model reference control strategy against autonomous robot systems with random friction nature. We approximate a nonlinear robot system model by means of a feedback linearization approach to derive nominal control law. We construct a Least Square (LS) based observer to estimate friction dynamics online and then represent a perturbed system model with respect to approximation error between an actual friction and its estimation. Model reference based control design is achieved to implement an auxiliary control in order for reducing control error in practice due to system perturbation. Additionally, we conduct theoretical study to demonstrate stability of the perturbed system model through Lyapunov theory. Numerical simulation is carried out for evaluating the proposed control methodology and demonstrating its superiority by comparing it to a traditional nominal control method.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제3권1호
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• pp.58-65
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• 2003

In this paper, a new model, which is a Takagi-Sugeno fuzzy model, for mobile robot is presented. A controller, consisting of two loops the one of which is the inner state feedback loop designed for stability and the outer loop is a PI controller designed for tracking the reference input, is suggested. Because the robot dynamics is nonlinear, it requires the controller to be insensitive to the nonlinear term. To achieve this objective, the model is developed by well known T-S fuzzy model. The design algorithm of inner state-feedback loop is regional pole-placement. In this paper, regions, for which poles of the inner state feedback loop are lie in, are formulated by LMI's. By solving these LMI's, we can obtain the state feedback gains for T-S fuzzy system. And this paper shows that the PI controller is equivalent to the state feedback and the cost function for reference tracking is equivalent to the LQ(linear quadratic) cost. By using these properties, it is also shown in this paper that the PI controller can be obtained by solving the LQ problem.

• 제어로봇시스템학회논문지
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• 제7권11호
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• pp.904-911
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• 2001

A broomstick swinging biped acrobatic controller is designed and simulated to show capability of the system of controllers: virtual model controller is employed for the robot\`s posture balancing control while a higher level fuzzy controller modulate the one of the virtual model controller\`s parameter for the pendulum swinging motion generation. The robot is of 7 degree-of-freedom, 8-link planar bipedal robot having two slim legs and a body. Each leg consists of a hip joint, a knee joint, an ankle joint and the body has a free joint at the top in the head at which a freely rotating broomstick is attached. We assume that the goal for the acrobat robot is to maintain a body balance in the sagittal plane while swinging up the freely up the freely rotating pendulum. We also assume that the actuators in the joints are all ideal torque generators. The proposed system of controllers satisfies the goal and the simulation results are presented.

• 한국해양공학회지
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• 제30권5호
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• pp.405-414
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• 2016

This paper presents an internal oil leakage detection problem for a hydraulic single-rod cylinder. We derive the dynamics of the hydraulic cylinder as a state space model, and then design a T—S fuzzy model-based fault detection observer. We adopt an H_∞ observer design scheme so that the observer is robust against disturbance and relatively sensitive to the leakage fault. Sufficient design conditions are derived in the form of linear matrix inequalities. A numerical example is provided to verify the proposed techniques.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1832-1835
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• 1997

Off-line programming systems are widely spread in assembly lines of minute electronic products to huge offshore structures. Any OLP system has to be calibrated before the on-line robot tasks are performed because there are inherent differences between the CAD model on OLP and the real robot workspace. This paper uses simple geometric expressions to propose a calibration method applicable to an OLP for SCARA robots. A positioning task on the two-dimensional horizontal surface was used in the error analysis of a SCARA robot and the anaysis shows that the inaccuracy results from the two error sources non-zero offset angles of two rotational joints at the zero return and differences in link lengths. Pen marks on a sheet of plotting paper are used to determine the accurate data on the joint centers and link dimensions. The calculated offset angles and link lengths are fed back to the OLP for the calibration of the CAD model of the robot and task environments.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.523-525
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• 2004

Over the last few years, the control of bipedal robot has been considered a promising research field in the community of robotics. But the problems we encounter make the control of a bipedal robot a hard task. The complicated link connection of the bipedal robot makes it impossible to achieve its exact model. In addition, the joint velocity is needed to accomplish good control performance. In this paper a control method using ANFIS as an system approximator is purposed. First a model biped robot of a biped robot with switching leg influence is presented. Unlike classical method, ANFIS approximation error estimator is inserted in the system for tuning the ANFIS. In the entire system, only ANFIS is used to approximate the uncertain system. ANFIS tuning rule is given combining the observation error, control error and ANFIS approximation error. But this needs velocity information which is not available. So a practical method is newly presented. Finally, computer simulation results is presented to show this control method has good position tracking performance and robustness without need for leg switching acknowledgement.