• International Journal of Fuzzy Logic and Intelligent Systems
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• v.16 no.3
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• pp.216-223
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• 2016

This paper proposes a new controller design method for a fork-type lifter (FTL) of a transportation mobile robot. The transportation robot needs to pick up a package from a stack on a storage shelf and move on by a planned path in a logistics center environment. The position of the storage shelf is recognized by reading a QR code on the floor, and using this position, the robot can move to reach the storage shelf and pick up the package. PID controllers and an adaptive controller are designed to control the velocity of two wheels and the position of the FTL. An adaptive controller for the lifter is designed to elevate up and down on a slideway to the correct height position of the package on the stack of the storage shelf. The simulation results show that the PID controllers can respond smoothly to the desired angular velocity and the adaptive controller can adapt quickly and correctly to the desired height.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.147.3-147
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• 2001

We have proposed a digital control method, where the controlled variable is a joint angular velocity, of space robot manipulators using the transpose of Generalized Jacobian Matrix. The explicit relationship between the control law and the sampling period, however, is unknown because the controller gains include the sampling period implicitly. This paper presents a novel digital control method which explicitly describes the relation between the sampling period and the controller gains. Computer simulation of a 3-DOF planar space robot manipulator is peformed. Simulation result demonstrates the effctiveness of the proposed method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.871-872
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• 2009

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.292-298
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• 1991

A new 6-axis robot controller with a high-speed 32-bit floating-point DSP TMS32OC30 has been developed in Samsung Electronics. The controller composed of Intel 80386 microprocessor for the main controller, and TKS32OC30 DSP chip for joint position controller. The characteristics of the controller are high sampling rate of 200us and fast reponsibility. The main controller supports MS-DOS, kinematics, trajectory planning, and sensor fusion functions which are vision, PLC, and MAP. The one high speed DSP chip is used for controlling 6 axes of a robot in 200us simultaneously. The control law applied is PID controller including a velocity feedforvard in joint position controller. The performance tests, such as command following, CP, were conducted for the controller integrated with a 6 axes robot developed in Samsung Electronics. The results showed a good performance. This controller can also perform the system control with other controllers, the communication with high priority controllers, and visual information processing.

• Proceedings of the IEEK Conference
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• 1998.06a
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• pp.263-266
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• 1998

This paper propose a prefilter type inverse control algorithm using chaotic neural networks. Since the chaotic neural networks show robust characteristics in approximation and adaptive learning for nonlinear dynamic system, the chaotic neural networks are suitable for controlling robotic manipulators. The structure of the proposed prefilter type controller compensate velocity of the PD controller. To estimate the proposed controller, we implemented to the Cartesian space control of three-axis PUMA robot and compared the final result with recurrent neural network(RNN) controller.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.147.2-147
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• 2001

In this paper we develop a new robust trajectory tracking control scheme without using joint velocity. The proposed controller doesn´t employ adaptation, Therefore, the construction of the controller becomed very simple. Moreover, by using numerical simulation, we make sure the effectiveness of the proposed controller in the presence of quantization errors.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.137-141
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• 1988

A sampled data controller for the quadruped walking robot is presented. To provide systematic design procedure, the relation between PI gain of velocity controller and sampling rate is analyzed with the ISE performance index and the time responses. The position controller for one-leg, 3-axis, was developed under consideration of compactness and expendability. And several experiments were performed.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.850-856
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• 1992

The problem of robust control of a underwater vehicle subject to variation of a real parameter and velocity is considered. The controller set which stabilized perturbed plant is chosen using numerical gradient method and the controller is used for nominal performance and robust performance. Simulation results are presented to show that the precise montion control of the controller is accomplished under perturbation in the system.

• Journal of Industrial Technology
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• v.26 no.B
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• pp.227-231
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• 2006

This paper presents a robust speed control method of induction motors(IM) using a Non-linear PI controller(NPI). NPI is high gain controller in region of small error, and low gain controller in region of large error. So in steady state, system will be robust against variation of load torque. The simulation and experiment results confirm the validity of proposed control scheme.

• Journal of Advanced Navigation Technology
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• v.9 no.2
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• pp.87-92
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• 2005

An altitude control using a fuzzy controller was performed for a series of research for autonomous flight control of industrial unmanned helicopters. The 3m class gasoline engined unmanned helicopter was designed, and using the designed specifications, Takagi-Sugeno-Kang type fuzzy controller was designed. The input membership functions were generated using target altitude, altitude error and velocity of unmanned helicopter. With these membership functions, the control inputs for altitude control were calculated. These control input signal can control the main rotor's pitch and determine the velocity and altitude of the unmanned helicopter. Also, the altitude control performance of the designed fuzzy controller was evaluated by computer simulations