• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1-6
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• 1991

This paper is concerned with the design of a robust tracking controller using a state observer on a robotic manipulator under the disturbance. The controller is designed to follow a step or ramp reference input without steady state error in the presence of a disturbance and a system parameter variation. In most cases, since all the state vectors are not measured, unmeasurable state vectors must be estimated or reconstructed. A reduced order observer is proposed to estimate unmeasurable state vectors of the non-linear system. Some problems are caused by the Coulomb friction, the disturbance, and the spring effect of a link between the drive motor and the manipulator arm. The state variables, directly measured and estimated by the reduced order observer, are fed back to the controller. When the robot system exhibits the 'limit cycle, the feedback gains initially obtained by optimal control theory are changed. As a result, the limit cycle is eliminated by the new controller gains,

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.533-538
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• 1991

In the design and operation of robot arms with flexible links, the equations of motion are required to exactly model the interaction between rigid motion and elastic motion and to be formulated efficiently. Thus, the flexible link is represented on the basis of the D-H rigid link representation to measure the elastic deformation. The equations of motion of robot arms, which are configured by the generalized coordinates of elastic and rigid degrees of freedom, are formulated by using F.E.M. to model complex shaped links systematically and by eliminating elastic mode of higher order that does not largely affect motion to reduce the number of elastic degree of freedom. Finally, presented is the result of simulation to flexible robotic arm whose joints are controlled by direct or PD control,

• 제어로봇시스템학회논문지
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• 제16권4호
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• pp.346-352
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• 2010

This paper presents an intuitive interface scheme for controlling a hydraulic backhoe, which is a piece of excavating equipment consisting of a digging bucket on the end of a two-part articulated arm, and typically mounted and rotated on the back of a tractor or front loader. The passive levers/joysticks for actuator operations of a hydraulic backhoe are replaced into electric joysticks with a robotic controller, which will generate the end-effecter command trajectories of the backhoe through joystick rate control in cylindrical coordinate. The developed backhoe with the hydraulic control system showed the maxim position error of 3 cm with intuitive coordinate operations, which would be helpful for conveniently performing various excavating tasks with natural and effective ways.

• Journal of Mechanical Science and Technology
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• 제14권2호
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• pp.188-196
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• 2000

In this paper, our aim is to develop a model for two cooperating flexible manipulators handling a rigid object by using lumped parameters. This model is in turn analyzed on MATLAB. In order to validate the model, a precise simulation model is developed using $ADAMS^{TM}$ (Automatic Dynamic Analysis of Mechanical System). Moreover, to clarify the discussion, the motions of a dual-arm experimental flexible manipulator are considered. Using the developed model, we control a robotic system with a symmetric hybrid position/force control scheme. Finally, experiments and simulations are performed, and a comparison of simulation results with experimental results is given to a rerify the validity of our model.

• 한국정밀공학회지
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• 제28권6호
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• pp.663-669
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• 2011

This paper examines methods to estimate torque and angle in shoulder flexion from surface electromyography(sEMG) signals for intuitive and delicate control of robotic assistance device. Five muscles on the upper arm, three for shoulder flexion and two for shoulder extension, were used to offer favorable sEMG recording conditions in the estimation. The methods tested were the mean absolute value (MAV) with linear regression and the artificial neural network (ANN) method. An optimal condition was sought by varying combination of muscles used and the parameters in each method. The estimation performance was evaluated using the correlation values and normalized root mean square error values. In addition, we discussed their possible use as an estimation of motion intent of a user or as a command input in a physical human-machine interaction system.

• 제어로봇시스템학회논문지
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• 제10권10호
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• pp.878-886
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• 2004

Uncertainties are inevitable in robotic assembly in unstructured environment since it is difficult to construct fixtures to guide motions of robots. This paper proposes an augmented Petri net and an algorithm to adapt the assembly model on-line during actual assembly process. The augmented Petri net identifies events using force and position information simultaneously. Unmodeled contact states are identified and incorporated into the model on-line. The proposed method increases the level of intelligence of the robot system by enhancing the autonomy. The proposed method is evaluated by simulation and experiments with L-type peg-in-hole assembly using a two-arm robot system.

• 한국정밀공학회지
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• 제10권2호
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• pp.14-21
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• 1993

Pneumatic actuators have greater power to weight ratio than electric ones, but they have been rarely used as robotic actuators because of poor accuracy resulted from nonliearity of air. On the other hand, electric servo motors have glld controllability, but they have poor power to weight ratio. For the heavy load handling robot a combined actuating method was developed for vertical and horizontal axes of RISTBOT-ll which handles up to 250kgf load. In this paper, the control method is implemented and analyzed for the manufactured heavy load handling robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.149-154
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• 1990

In this paper, simulation results of a robust digital tracking controller on a robotic manipulator are presented. The objective is to follow a ramp reference input with zero steady state error in the presence of a disturbance and system parameter variations. Some of the difficulties are caused by the Coulomb frictions, the disturbance due to the gravitational pull, the spring effect of a link between the drive motor and the manipulator arm. Another difficulty is that, because of the non-differentiable Coulomb friction, the digital control system cannot be represented as a discrete system. It is thus necessary to design the controller based on a discrete-continuous hybrid model. The controller is based on feeding back the state variables and augmenting the system by addition discrete integrators. The feedback gain parameters are obtained by applying the quadratic optimal control theory and then choosing the new weighting matrices to eliminate the limit cycle by using the describing function method for hybrid system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.231-233
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• 2007

In this paper we present a new visual approach for the robust bin-picking in a two-step concept for a vision driven automatic handling robot. The technology described here is based on two types of sensors: 3D laser scanner and CCD video camera. The geometry and pose(position and orientation) information of bin contents was reconstructed from the camera and laser sensor. these information can be employed to guide the robotic arm. A new thinning algorithm and constrained hough transform method is also explained in this paper. Consequently, the developed bin-picking demonstrate the successful operation with 3D hole object.

• 한국마린엔지니어링학회:학술대회논문집
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• 한국마린엔지니어링학회 2011년도 후기공동학술대회 논문집
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• pp.77-78
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• 2011

한국해양연구원에서 개발 중인 Crabster 로봇팔을 기구학적으로 분석하고, 속도기구학을 매트랩을 이용하여 작업공간에 대해서도 분석 및 해석을 완료하였다. 운용자와 Crabster 로봇팔의 움직임을 고려해 개념 설계한 인간팔 크기의 7축 마스터 암 및 그립퍼의 기구부에 대해 2D 및 3D의 도면을 완성하였고, 마스터 암에 적용할 모터의 사양과 각 관절에 피드백 된 힘을 반영하기 위한 구동 모터의 엔코더를 이용한 위치 센서, DSP2812를 이용한 제어 명령 입력 장치와 구동 모터 드라이버를 포함한 마스터 - 슬레이브 시스템의 개념 설계를 완성하였다.