• Journal of Institute of Control, Robotics and Systems
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• v.9 no.10
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• pp.798-807
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• 2003

We propose a blind mobile robot force control algorithm that uses force information as a guidance toward to the goal position. Based on the mobile robot dynamics, the control law is formed from explicit force errors. Simulation studies are conducted based on the kinematics and the dynamics of the mobile robot. Simulation results show that good force tracking can be achieved. In order to confirm simulation results, experiments are performed. The robot is commanded to follow unknown environment with maintaining a certain desired force. Experimental results show that the blind mobile robot successfully maintains contact with a regulated desired force and arrives at the goal position.

• The Journal of Korea Robotics Society
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• v.5 no.1
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• pp.1-6
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• 2010

For the personal robot to serve humans as a companion in our daily life, it is obviously important that the robot should have a long-term relationship to users. In this paper, we introduce a simple idea on how to make the long-term relationship by using just low-cost and simple robots. We also describe the robotic artificial creature system to implement this idea. The artificial creature robots respond not only physical environment changes but also the logical information changes in the virtual world such as the Web. They consist of a control robot and several simple robots, which show users various group behaviors. Users have a relationship with them by observing these behaviors, rather than interacting with them. We separate physical robots and software applications in order that artificial creature robots can have more various behaviors made by various software applications. Finally, we implemented the system using a robot simulator to show some example cases.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.23.2-23
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• 2001

In this paper we deal with visual servoing that can control a robot arm with a camera using information of images only, without estimating 3D position and rotation of the robot arm. Here it is assumed that the robot arm is calibrated and the camera is uncalibrated. We use a pinhole camera model as the camera one. The essential notion can be show, that is, epipolar geometry, epipole, epipolar equation, and epipolar constrain. These play an important role in designing visual servoing. For easy understanding of the proposed method we first show a design in case of the calibrated camera. The design is constructed by 4 steps and the directional motion of the robot arm is fixed only to a constant direction. This means that an estimated epipole denotes the direction, to which the robot arm translates in 3D space, on the image plane.

• Journal of the Korean Society of Mechanical Technology
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• v.13 no.1
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• pp.95-103
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• 2011

Robots in various types carry and assemble parts through repeatedly and accurately moving to stored locations by combining linear motions. And, linear systems are used in orthogonal axes of robots and driven via ball screws, such as 2-axis cartesian coordinate robot in this paper. This paper presents the effect of the linear motion guide that is used in $2^{nd}$ axis in 2-axis cartesian coordinate robot. Some simulation results show that the linear motion guide influence greatly in robot performance such as the nominal life of linear guide. When use LM guide that have capacity near in $2^{nd}$ axis, this paper show that the nominal life on LM block of $1^{st}$ axis increases 37.4% and that the specification of $2^{nd}$ axis LM guide influences greatly the nominal life of $1^{st}$ axis LM block.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.12
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• pp.1267-1271
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• 2014

There have been many autonomous robot calibration methods which form closed loop structures through the various attached sensors and mechanical fixtures. Single point calibration among them has been used for on-site calibration due to its convenience of implementation. The robot can reach a single point with infinitely many configurations so that single point calibration algorithm can be set up and easily implemented relative to the other methods. However, it is not still easy to drive the robots' sharp edge to its corresponding edge of the fixture. This is error-prone process. In this paper, we propose a 3 dimensional small displacement measuring sensor and a robot calibration algorithm based on this sensor. This method relieves the difficulty of matching two edges in the single point calibration and improves the resulting robot accuracy. Simulated study is carried out on a Hyundai HA06 robot to show the effectiveness of the proposed method over the single point calibration. And also, the resulting robot accuracy is compared with that from 3D laser tracker based calibration to show the dependency of robot accuracy on range of the workspace where the measurement data are collected.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2546-2550
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• 2003

We propose a new method of robot manipulator modeling. Different from existing modelers, our modeler provides a convenient robot modeling configured from modules from module library or module modeling. In addition, a way of using D-H parameters to configure a robot is proposed. These additional functions of robot modeling can be a powerful and flexible tool for various needs of robot modeling. We show an example of modeling with our approach.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.9
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• pp.77-83
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• 2003

In this paper, a robust controller is proposed to control a robot manipulator which is governed by highly nonlinear dynamic equations. The controller is computationally efficient since it does not require the dynamic model or parameter values of a robot manipulator. It, however, requires uncertainty bounds which are derived by using properties of revolute joint robot dynamics. The stability of the robot with the controller is proved by Lyapunov theory. The results of computer simulations show that the robot system is stable, and has excellent trajectory tracking performance.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.12
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• pp.1266-1269
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• 2008

We propose an integral sliding mode control for robot manipulators guaranteeing that sliding motion exists starting from an initial time. Also, we prove the asymptotic stability for robot manipulators using three important properties in the robot dynamics: skew-symmetry, positive-definiteness, and boundedness of robot parameter matrices. From illustrative examples, we show that the proposed method effectively controls for robot manipulators.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.1
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• pp.168-172
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• 2009

We compare an integral sliding mode control with a typical sliding mode control for robot manipulators through two primitive tasks: set-point regulation and trajectory tracking control. To prove the asymptotic stability of two methods for robot manipulators, we introduce three important properties in the robot dynamics: skew-symmetry, positive-definiteness, and boundedness of robot parameter matrices and we present one unified control structure using a parametric velocity vector. From illustrative examples, we show that two methods effectively control for robot manipulators.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.435-438
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• 2002

In this paper, a robust controller is proposed to control a robot manipulator which is governed by highly nonlinear dynamic equations. The controller is computationally efficient since it does not require the dynamic model or parameter values of a robot manipulator. It, however, requires uncertainty bounds which are derived by using properties of serial link robot dynamics. The stability of the robot with the controller is proved by Lyapunov theory. The results of computer simulations show that the robot system is stable, and has excellent trajectory tracking performance.