• 한국산업정보학회:학술대회논문집
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• 한국산업정보학회 2002년도 춘계학술대회 논문집
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• pp.161-165
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• 2002

This paper describe a trajectory generation method for a soccer robot using cubic Bezier curve. It is proposed that the method to determine the location of control points. The control points are determined by the distance and the velocity parameters of start and target positions. Simulation results show its traceability of the trajectory of mobile robot.

• 제어로봇시스템학회논문지
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• 제16권5호
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• pp.428-432
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• 2010

In this paper, an adaptive formation control based on the leader-following approach is proposed for multiple mobile robots with time varying parameters. The proposed controller does not require the velocity information of the leader robot, which is commonly assumed that it is either measured or telecommunicated. In order to estimate time varying velocities of the leader robot, the smooth projection algorithm is employed. From the Lyapunov stability theory, it is proved that the proposed control scheme can guarantee the uniform ultimate boundedness of error signals of the closed-loop system. Finally, the computer simulations are performed to demonstrate the performance of the proposed control system.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제11권1호
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• pp.49-53
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• 2011

Path following of the mobile robot is one research hot for the mobile robot navigation. For the control system of the wheeled mobile robot(WMR) being in nonhonolomic system and the complex relations among the control parameters, it is difficult to solve the problem based on traditional mathematics model. In this paper, we presents a simple and effective way of implementing an adaptive following controller based on the PID for mobile robot path following. The method uses a non-linear model of mobile robot kinematics and thus allows an accurate prediction of the future trajectories. The proposed controller has a parallel structure that consists of PID controller with a fixed gain. The control law is constructed on the basis of Lyapunov stability theory. Computer simulation for a differentially driven nonholonomic mobile robot is carried out in the velocity and orientation tracking control of the nonholonomic WMR. The simulation results of wheel type mobile robot platform are given to show the effectiveness of the proposed algorithm.

• 제어로봇시스템학회논문지
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• 제16권9호
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• pp.891-897
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• 2010

This paper proposes a cooperative control algorithm for a dual-arms robot which is carrying an object to the desired location. When the dual-arms robot is carrying an object from the start to the goal point, the optimal path in terms of safety, energy, and time needs to be selected among the numerous possible paths. In order to quantify the carrying efficiency of dual-arms, DAMM (Dual Arm Manipulability Measure) has been defined and applied for the decision of the optimal path. The DAMM is defined as the intersection of the manipulability ellipsoids of the dual-arms, while the manipulability measure indicates a relationship between the joint velocity and the Cartesian velocity for each arm. The cost function for achieving the optimal path is defined as the summation of the distance to the goal and inverse of this DAMM, which aims to generate the efficient motion to the goal. It is confirmed that the optimal path planning keeps higher manipulability through the short distance path by using computer simulation. To show the effectiveness of this cooperative control algorithm experimentally, a 5-DOF dual-arm robot with distributed controllers for synchronization control has been developed and used for the experiments.

• 제어로봇시스템학회논문지
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• 제18권10호
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• pp.902-911
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• 2012

This paper proposes a robust adaptive fuzzy backstepping control scheme for trajectory tracking of an electrically driven nonholonomic mobile robot with uncertainties and actuator dynamics. A complete model of an electrically driven nonholonomic mobile robot described in this work includes all models of the uncertain robot kinematics with a nonholonomic constraint, the uncertain robot body dynamics with uncertain frictions and unmodeled disturbances, and the uncertain actuator dynamics with disturbances. The proposed control scheme uses the backstepping control approach through a kinematic controller and a robust adaptive fuzzy velocity tracking controller. The presented control scheme has a voltage control input with an auxiliary current control input rather than a torque control input. It has two FBFNs(Fuzzy Basis Function Networks) to approximate two unknown nonlinear robot dynamic functions and a robust adaptive control input with the proposed adaptive laws to overcome the uncertainties such as parameter uncertainties and external disturbances. The proposed control scheme does not a priori require the accurate knowledge of all parameters in the robot kinematics, robot dynamics and actuator dynamics. It can also alleviate the chattering of the control input. Using the Lyapunov stability theory, the stability of the closed-loop robot control system is guaranteed. Simulation results show the validity and robustness of the proposed control scheme.

• 한국정보통신학회논문지
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• 제15권9호
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• pp.1871-1880
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• 2011

본 논문에서는 최근 편리하고 간편한 이동수단으로 각광받고 있는 Segway 형태의 이륜 역진자로봇에 대해 기존의 방법보다 더 안정적인 밸런싱과 빠른 속도제어가 가능하도록 제어기를 설계하였다. 먼저 널리 사용되는 PID 제어 구조를 이륜 역진자로봇에 적용하고, 몇 단계로 지정된 탑승자의 각 몸무게에 대해 적절한 PID 제어기 이득을 시행착오적으로 선택하여 밸런싱과 속도제어가 잘 이루어지도록 하였다. 앞에서 지정된 몸무게 이외의 임의의 몸 무게에 대한 PID 제어기 이득값을 구하기 위해 보간 개념으로 신경회로망을 사용하였으며 앞에서 시행착오적으로 구한 제어 이득값을 학습데이터로 사용하였다. 이와 같이 신경회로망을 이용하여 설계된 제어기의 성능을 확인하기 위해서 시뮬레이션 연구를 수행하였으며, 기존의 PID 제어기보다 빨리 밸런싱과 속도제어가 됨을 확인할 수 있었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.604-609
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• 2005

This paper presents an experimental study for optimizing the acceleration of AC servomotor using finite jerk (the first derivative of acceleration). The acceleration optimization with finite jerk aims at generating the smooth velocity profile of AC servomotor by experimentally minimizing vibration resulted from the initial friction of servomotor. The stick-slip motion of AC servomotor induced by initial friction can result in the positional errors that are not good for high-precision devices such as the assembly robot arms to be used in a 300mm wafer or a LCD (Liquid Crystal Display) stocker system. In this paper, experiments were made by using a PM (Permanent Magnet) type AC servomotor with MMC(R) (Multi Motion Controller) programmed in Visual C++(R). The experiments have been performed for finding the optimal duration time of finite jerk in terms of the minimization of vibration displacements when both the magnitude of velocity and the allowable acceleration are given. We have compared the proposed control with the conventional control with trapezoidal velocity profile by measuring vibration displacements. The effectiveness of the proposed control has been verified in that the experimental results showed the decrease of vibration displacement by about 24%.

• Transactions on Control, Automation and Systems Engineering
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• 제2권3호
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• pp.201-206
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• 2000

In this paper, a posture control for nonholonomic mobile robots is proposed with an empirical basis. In order to obtain fast and consecutive motions in realistic applications, the motion requirements of a mobile robot are defined. Under the assumption of a velocity controller designed with the selection guidance of control parameters, the algorithm of posture control is presented and experimentally demonstrated for practicality and effectiveness.

• 한국정밀공학회지
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• 제14권12호
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• pp.56-65
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• 1997

This paper presents the robot program for propeller grinding. A robot manipulator is constructed by combining a parallel and a serial mechanism to increase high sitffness as well as workspace. The robot program involves inverse/direct kinematics, velocity mapping, Jacobian, and etc. They are cerived in efficient formulations and implemented in a real time control. A velocity control is used to measure the hight of a propeller blade with a touch probe and a position control is performed to grind the surface of the blade.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 춘계학술대회 논문집
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• pp.566-569
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• 2000

This hybrid position/force control for the dynamic walking of the biped robot is performed in this paper. After the biped robot was modeled with 14 degrees of freedom of the multibody dynamics, the equations of motion are constructed using velocity transformation technique. Then the inverse dynamic analysis is performed for determining the driving torques and the ground reaction forces. From this analysis, obtains the maximum ground contact force at the moment of contacting which act on the rear of the sole of swing leg and the distribution curve of the ground reaction. Because these maximum force and distribution type acts an important role to the stability of the whole dynamic walking, they are reduced and distributed smoothly by means of the trajectory of the modified ground reaction force. This new trajectory is used to the reference input for more stable dynamic walking of the whole walking region.