• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.1080-1084
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• 1989

The motion of an workpiece to be manipulated is determined by the forces applied to the workpiece. During the contact between the robot hand and the workpiece, impulsive forces may dominate all other forces, and determine the ultimate success or failure of a task. Therefore, one of the important problems in the robot hands is the control of the initial impact force. In this paper, the problem of the force control of robot hand under system with contact force is presented. The principle of energy can be applied in the modelling of the impact force. In order to achieve stable contact and avoid bounces and vibrations, VSS is adopted in the design of the contact force controller. Some simulations are carried out for a pushing operation to control the contact force.

• 한국전자통신학회논문지
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• 제5권5호
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• pp.534-540
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• 2010

본 논문에서는 여러 대의 카오스 로봇이 운영할 때 이들 로봇 사이의 충돌을 회피하고, 또한 장해물을 피해가기 위한 수학적 알고리즘을 제안한다. 포메이션 제어에 위하여, 로봇과 로봇 사이의 통신에 따른 명령체계를 마련하기 위한 기법의 하나로 로봇 시스템들 간의 동기화 기법을 제시하고 컴퓨터 시뮬레이션으로 그 결과를 확인하였다.

• 대한조선학회논문집
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• 제49권3호
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• pp.273-279
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• 2012

The concept of the Mobile Harbor had been made recently as a kind of feeder vehicle to transfer a certain amount of container boxes (i.e. 250 TEU at a time) from main ocean container vessels over 5,000 TEU capacity to the container terminal on land. In a harbor a short distance apart from the land, the container loading/unloading operation has to be performed on the main deck of the Mobile Harbor using the container cranes in the state of side-by-side mooring with protection of fenders and robot arms in the gap. Even under the ocean condition of the sea state class 2 or 3, the operation has to be confirmed to be safely performed. In this situation, the floating bodies considering the multiple-body interaction effect also has to be examined whether they might behave safely or not. Especially, this study focuses on the dynamic behavior of the Mobile harbor when a container box is hanged on the crane and the impact load due to the slewing motion is imposed in a certain sea state. The motion response should be controlled within the motion level to assure the safe operation.

• 대한기계학회논문집
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• 제15권2호
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• pp.463-477
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• 1991

This study proposed a new method to design a robot manipulator control system capable of tracking the trajectories of joint angles in a reasonable accuracy to cover with actual situation of varying payload, uncertain parameters, and time delay. The direct adaptive model following control method has been used to improve existing industrial robot manipulator control system design. The proposed robot manipulator controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories predefined by the designer. The manipulator control system studied has two loops: they are an inner loop on adaptive model following controller to compensate nonlinearity in the manipulator dynamic equation and to decouple the coupling terms and an outer loop of state feedback controller with integral action to guarantee the stability of the adaptive scheme. This adaptation algorithm is based on the hyperstability approach with an improved Lyapunov function. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance in various cases, load variation, parameter uncertainties. and time delay. Since the proposed adaptive control method requires only a small number of parameters to be estimated, the controller has a relatively simple structure compared to the other adaptive manipulator controllers. Therefore, the method used is expected to be well suited for a high performance robot controller under practical operation environments.

• 대한기계학회논문집A
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• 제20권12호
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• pp.3883-3891
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• 1996

Performance and productivity of robot manipulator can be improved by increasing its working speed and extending its link length. But heavy weght of the commercial robot links, considered as "rigid body", limits its mazimum working speed and the weght of the links can be reduced for high speed operation. But this light-weight link or long link for special use cannot be consideredas "rigid" structure and vibration of the link due to its flexibility causes errors in end-effector position and orientation. Thus the elastic behaviro of the flexible link should be taken care of for increasing work speed and getting smaller error of end-effector position. In this paper, the fuzzy control theory is selected to design the controller which controlos the joint positions of the robot manipulator and suppress the vibration of flexible link. In the forst place, for the 1 DOF flexible link system, the fuzzy control theory is implemented. The contdroller for the 1 DOF flexible link system is designed. Experimental research is carried out to examine the controllability and the validity of the fuzzy control theory based controller. Next, using the extended desing schemes for the case of the 1 DOF flexible link system and usign the experimental phenomena of the 3 DOF flexible link system, the fuzzy controller for the 3 DOF flexible link system is desinged and experimented.ed and experimented.

• Journal of Advanced Marine Engineering and Technology
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• 제20권4호
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• pp.11-19
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• 1996

Recently, fuzzy and neural network techniques have been successfully applied to control of complex and ill-defined system in a wide variety of areas, such as robot, water purification, automatic train operation system and automatic container crane operation system, etc. In this paper, we present a neuro-fuzzy controller which unifies both fuzzy logic and multi-layered feedforward neural networks. Fuzzy logic provides a means for converting linguistic control knowledge into control actions. On the other hand, feedforward neural networks provide salient features, such as learning and parallelism. In the proposed neuro-fuzzy controller, the parameters of membership functions in the antecedent part of fuzzy inference rules are identified by using the error backpropagation algorithm as a learning rule, while the coefficients of the linear combination of input variables in the consequent part are determined by using the least square estimation method. Finally, the effectiveness of the proposed controller is verified through computer simulation of an inverted pendulum system.

• 대한인간공학회지
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• 제5권2호
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• pp.3-9
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• 1986

The present paper deals with obtaining the proper application criteria for the control mode, by using computer graphic simulation, in order to recover the error effectively occurring in the practical supervisory contol work of hyman-robot system. In these experiments the opteations by human and by control program are performed as control modes for recovering the error. And then we compare and analyze tow control modes taking task error and task time as performance measures and task difficulty as a variable factor. Consequently as the task difficulty increases, the task error in the operation by hyman tends to be less than in the operation by control program and the task time is superior in the operation by control program. Therefore, we suggest that two control modes should be used jointly for recovering the error and the operation by control program should be applied in major fraction of control and the operation by human in minor fraction of control.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.288-288
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• 2000

Reactor vessel is one of the most important equipment with regard to the safety of nuclear power plant. Thus nuclear regulation requires its periodical examination by certified inspection experts. Conventional reactor inspection machines are obsolete, hard to handle, and very expensive. To solve these problems we developed robotic reactor vessel inspection system which are small, easy to use for inspection, cost effective, and convenient in operation. This paper describes the main features of Main Control System which is one part of robotic inspection equipment we developed.

• Journal of Power Electronics
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• 제19권3호
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• pp.691-701
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• 2019

To solve the problems in the contact charging of inspection robots, a wireless charging system for inspection robots and a control strategy are introduced in this paper. Circuit models of a wireless power system with a compound compensation circuit and a three-phase Class-D resonant inverter are set up based on circuit theory. An output voltage control method based on the equal spread regulation of the phase difference between adjacent phases and the parameter correction method in the primary compound compensation circuit are proposed. The dynamic characteristics of the key parameters varying with the secondary coil position are obtained to further investigate the adaptive location scheme during the access and exit processes of moving robots. Combining the output voltage control method and the adaptive location scheme, a transition control strategy for the standby and operation modes of the wireless charging systems for inspection robots is put forward to realize the system characteristics including the low standby power in the standby mode and the high receiving power in the operation mode. Finally, experiments are designed and conducted to verify the correctness of the theoretical research.

• 한국광학회지
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• 제24권1호
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• pp.17-22
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• 2013

High performance plastic optical fiber (POF) $N{\times}N$ star couplers are implemented based on fusing and combining technology. A set of cladding-removed POFs are fused into a solid body by heating and pressing them together to form the transition region between the input and output sides. The operation principle of the proposed star coupler is explained based on ray optics. To demonstrate the performance of the device, $2{\times}2$, $4{\times}4$ and $6{\times}6$ type POF couplers were fabricated and characterized. Performances of the POF star couplers were evaluated in terms of the flatness of the coupling ratios and excess losses.