• Journal of Institute of Control, Robotics and Systems
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• v.22 no.12
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• pp.1034-1039
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• 2016

This paper presents the implementation and control of a small-scaled excavator system. The commercial miniature of an excavator system has been modified and its control hardware is embedded to access the feedback control. Encoder sensors are attached to the joint and a force sensor is mounted on the end-effector so that feedback position control is accessible as well as force control. The dynamic model of the excavator system is derived as a four linkage robot arm and its control performances are simulated. Experimental studies of contact force control tasks are conducted to test the control algorithm for the excavator system.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2002.12a
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• pp.227-230
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• 2002

기존 이동로봇의 활발한 연구와 더불어 다양한 형태의 이동로봇이 등장하였다. 이에 본 논문에서는 8축으로 구성된, 총 16 Degree of Freedom을 가지는 다 관절 뱀 로봇을 제작하였다. 뱀 로봇은 지면과의 진행 마찰력을 고려하여 무동력 바퀴를 사용하였다. 또한 PC Cam과 초음파 센서를 사용하여 각 관절이 움직일 수 있는 Joint Angle을 나타내기 위하여 Target의 색상과 거리를 입력으로 하였다. 뱀 로봇은 머리부분, 몸통 그리고 꼬리부분으로 나뉘어 진행하는 방식을 가지며 PC Cam을 통해 화면에 보여지는 움직이는 특정 목표물에 대하여 진행을 하며, 진행 중 움직이거나 고정되어있는 Obstacle이 포착될 경우 충돌회피를 통하여 Target을 추종하는 방식을 실험적으로 보이고자 한다.

• Proceedings of the Korea Institute of Convergence Signal Processing
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• 2003.06a
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• pp.183-187
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• 2003

When a flexible arm is rotated by a motor about an axis through the arm's fixed end, transverse vibration may occur. The motor torque should be controlled in such a way that the motor rotates by a specified angle, while simultaneously stabilizing vibration of the flexible arm so that it is arrested at the end of rotation. In this paper, we propose nonlinear observer for one-link flexible am. Then based on the error dynamic equation between the plant dynamic equation and the nonlinear observer dynamic equation of the flexible one-link am, Lyapunov candidate function is applied to achieve a stable deterministic nonlinear feedback controller for the regulation of joint angle.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.469-472
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• 2016

Jansen Mechanism has been a constant popularity by researchers studying legged robots because of many benefits. This paper proposed the design process of optimized legged robots using Jansen Mechanism and m.Sketch(Jansen Mechanism simulation software). First, driving part of legged robots is designed in compliance with the design regulations of a competitive exhibition. Second, setting the length of link and position of joint is conducted in keeping with the constraints. Third, Ground Length (GL) and Ground Angle Coefficient(GAC) values are extracted by m.Sketch simulation. Finally, by repeating the previous procedures, comparing the GL and GAC values, find the optimum input values. This.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.930-932
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• 1996

Some results and a nonlinear controller are proposed for feedback linearizable SISO systems with unknown constant parameters. It is shown that the systems which satisfy the proposed conditions can be transformed into a controllable linear subsystem with unknown parameter and it can be stabilized using the high gain nonlinear feedback linearizing controller. As an example for the proposed theorem, we introduce the single link robot with joint flexibility which is an well known example.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1996.10a
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• pp.203-209
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• 1996

The authors apply the transfer influence coefficient method to the 3-dimensional vibration analysis of beam with multi-joints and formulate a general algorithm to analysis the longitudinal, flexural and torsional coupled forced vibration. In this paper, a structure, which is mainly founded in the robot arms, cranes and so on, has some crooked parts, subsystems and joints but has no closed loop in this system. It is modeled as the beam of a distributed mass system with massless translational, rotational and torsional springs in each node, and joint elements of release or roll at which node the displacement vector is discontinuous. The superiority of the present method to the transfer matrix method in the computation accuracy was confirmed from the numerical computation results. Moreover, we confirmed that boundary and intermediate conditions could be controlled by varying the values of the spring constants.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.30.3-30
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• 2001

In this paper, we designed the 6-wheeled mobile robot (6-WMR) with the passive linkage mechanism which enables 6-WMR to passively adapt to the given stairs. To overcome the limit of adaptability to the terrain of conventional WMR and improve the energy efficiency, we proposed the new WMR using the passive linkage mechanism. The passive linkage mechanism consists of the simple four-bar linkage mechanism which allows 6-WMR to climb stairs with adaptability and an additional link which is connected to the four-bar linkage mechanism by a pin-slot joint to enable 6-WMR to passively go up the stairs. We made a miniature model of the proposed 6-WMR ...

• Journal of the Korean Society of Industry Convergence
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• v.24 no.4_1
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• pp.397-409
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• 2021

This study proposes a new approach to implimentation of robust control and torque control response analysis based on monitoring simulator for smart factory. According to the physical properties of a flexible manipulator, a two time-scale approach, namely, singular perturbation ap proach, is further utilized for thorough analysis and general controller design. It is shown that asymptotic motional tracking can be effectively achieved, whereas the force regulation errors can be made arbitrarily small. For demonstration of the proposed technology performance, experiments of a eight joint flexible manipulator are performed for the proposed control method, and the reliability of proposed control results are illustrated based on monitoring simulator.

• The Journal of Korea Robotics Society
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• v.16 no.3
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• pp.283-290
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• 2021

We propose a task and motion planning algorithm for clearing obstacles and wiping surfaces, which is essential for surface disinfection during the pathogen disinfection process. The proposed task and motion planning algorithm determines task parameters such as grasping pose and placement location during the planning process without using pre-specified or discretized values. Furthermore, to quickly inspect many unit motions, we propose a motion feasibility prediction algorithm consisting of collision checking and an SVM model for inverse mechanics and self-collision prediction. Planning time analysis shows that the feasibility prediction algorithm can significantly increase the planning speed and success rates in situations with multiple obstacles. Finally, we implemented a hierarchical control scheme to enable wiping motion while following a planner-generated joint trajectory. We verified our planning and control framework by conducted an obstacle-clearing and surface wiping experiment in a simulated disinfection environment.

• Proceedings of the Korea Information Processing Society Conference
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• 2008.11a
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• pp.593-596
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• 2008

로봇 산업은 계속 성장 하고 있으나 개발 인력은 부족한 현실이다. 그래서 정부나 기업은 로봇 개발인력을 양성하기 위한 프로그램을 활성화 하고 있다. 다양한 환경에 적용할 수 있는 장점 때문에 다관절로봇은 실제 산업에서 활용도가 높다. 또한 다관절 로봇은 다양한 동작 응용으로 창의력과 응용력을 키울 수 있어 교육에 적합하다. 그러나 다관절 로봇은 많은 수의 모터를 동시에 제어해야 하기 때문에 전문적인 지식이 없을 경우 개발하기 어렵다. 다관절로봇을 교육에 응용하기 위해서는 누구나 쉽게 이용할 수 있는 제어 방법을 제공해야 한다. 본 논문에서는 다관절 로봇의 효율적인 동작제어를 위한 기술을 구현하여 피교육자가 로봇을 쉽고 빠르게 개발할 수 있었다. 적용사례로 18개의 모터가 사용되는 6족로봇에 제안한 방법을 사용하여 동작 개발과정을 보여주었다.