• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.224-229
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• 1997

This paper compares the control techniques for position control experiments of a fixible robot moving in a vertical plane. The flexible manipulator is modeled as an Euler-beroulli beam. Elastic deformantion is representedusing the assumed model method. A comparison function which satisfies all geometric and natural boundary conditions of a cantilever beam with an end mass is used as an assumed mode shape. Lagrange's equation is utilized for the development of a discretized model. Control schemes are developed using PID control,pole placement control and discrete Linear Quadratic Regulater(LQQ). The effectiveness of the developed control schems are compared using computer simulation in view of practical experiment. The simulation results show that PID control is very effective in practical implementation.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2248-2250
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• 2004

본 논문에서는 유연한 단일링크 매니퓰레이터의 끝단 위치 추적제어를 위해 웨이블렛 신경망을 이용한 강인 적응제어기를 제안한다. 전체 제어기는 웨이블렛 신경망에 의해 추정된 피드백 선형화 제어기와 그 추정오차를 보상하기 위한 보상제어기로 구성된다. 시스템의 출력값은 최소위상을 보장하기 위하여 재정의하여 사용된다. 구성된 웨이블렛 신경망의 연결 가중치는 Lyapunov 안정도 이론에 기초해서 조절된다. 제안된 제어기의 성능 향상은 PD 제어기와 비교함으로써 입증된다.

• Transactions on Control, Automation and Systems Engineering
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• v.1 no.1
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• pp.22-31
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• 1999

In this paper, a robust observer design method for nonlinear multi input multi-output(MINO) plants is presented. This method enables the extension of the time delay observer (TDO) for nonlinear SISO plants in the phase variable form to MIMO plants. The designed TDO reconstructs the states of the plant expressed in the generalized observability canonical form (GOBCF), yet requiring neither the transformation of a plant, nor the real time computation coordinates, the observer turned out to be computationally efficient and easy to design for nonlinear MIMO plants. In a simulation of a two-link manipulator with flexible joints, the control performances using TDO appeared to be similar to those using actual states and superior to those using numerical differentiation. Finally, in an experiment with a robot, it was confirmed that the TDO reconstructs the states reliability and TDO can be effectively used in a real closed-loop system.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.248-253
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• 1992

In the development of a high speed and light weight manipulator, it is necessary to consider the structural elasticity of a robotic arm. The analysis of the infinite mode dynamic of robotic arm must be performed to obtain the finite mode modelling to achieve the feasible controller design of the robotic arm. The modelling procedure of the robotic arm is also illustrated. The controlled mode of the modelled dynamic can be derived by truncating the higher vibrational mode to result in the low order system for the sampling in the control signal is confined to the higher mode. And it is controlled by the pole assignment which can compensate the unmodelled dynamic effects. The unmodelled dynamic can result in the instability of the controlled system, which is known as spillover. The controller design of the low order system is simulated by the pole assignment and optimal control theory.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.10
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• pp.972-976
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• 2015

The objective of this research is to verify the quantitative efficiency of a bimanual robotic task. Bimanual robots can realize dexterous and complicated motions using two cooperating arms. However, its motion planning and control method are not simple for implementing flexible tasks such as assembly. In this paper, the proposed motion planning method is used to find an optimal solution satisfying a designed cost function and constraints with regard to the kinematics and redundancy of the bimanual robot. The simulation results show that the lifetime of the manipulator can be changed by the proposed cost function consisting of angular velocity and angular acceleration of each joint in the same assembly task.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.493-496
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• 1990

Recently, the robot control systems are required to be more flexible and intelligent in order to execute more complex and delicate tasks. As an approach to such system, a PC-based robot control system is presented in this paper. The axis controllers are independently designed for each joint of robot manipulator and are supervised by a personal computer. Therefore, the almost system program including the control algorithm can be easily developed and modified in the PC's environment. This proposed control system was successfully applied to 4 axis SCARA-type robot and the associated S/W modules were developed. We can construct sensory robot systems by simply connecting the sensing devices to the PC and the study on this now being progressed.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.382-387
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• 1990

In this paper, the dynamic modeling and tip position of rotating Timoshenko beam analyzed by means of FEM (finite element method) and Hyperstability MRAC(model referenced adaptive control) technique of each other. The governing equations of the rotating beams are drived from Hamilton's principle. The dynamic model of this multi-link is drived by Lagrange approach. The shear deformation and rotary inertia are incorporated into a finite element model for determining the bending frequencies of the rotating beam. Simulation results for uniform cantilever beams by using the MRAC are compared with the available results. It will be shown that the proposed method offers an accurate and effective one to solve the free vibration problems of rotating beams' stability.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.4 s.97
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• pp.155-162
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• 1999

Input shaping technique has been used as a simple method of controlling the residual vibration of a flexible manipulator. With the conventional methods previously proposed by several authors, the frequency range that shows a good performance is restricted. When the designed frequency being different from the natural frequency of a system, the performance of control degrades remarkably. This paper introduced a new technique that designs input shaping with robustness in the z-domain.

• Proceedings of the KIEE Conference
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• 1994.07a
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• pp.328-330
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• 1994

The Ultrasonic motor(USM) has many good characteristics such as high torque at low speed range, large holding torque based upon frictional force, high speed response, flexible free ferns, compactness in size, low magnetic noise and silentness in motion. Because of having low speed rotation, USM is good as an actuator of a small size direct drive (DD) manipulator. The acturators for the DD manipulators must have good controllability on the speed and torque from zero to maximum value continuously. New method was developed for speed and torque control by the phase difference control of the two-phase driving signals of the motor. Then rule adjustable compliant and dumped motion was realized on the output shaft of the motor by PD control of the output shaft angle.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2005.05a
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• pp.419-423
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• 2005

In microfactory, loading/unloading mechanism supply the row material to processing machines for manufacturing process such as pressing, cutting, plastic deformation. This mechanism for rnicrofactory is designed as modularity robot. Microfactory system have to be flexible structure for variety product item. For system flexibility, applied mechanisms are developed as moduality. Robot moduality needs the specific characteristics which are different from one of macro, typical robot system. In this paper, we discussed about the modularity robot. and proposed the loading/unloading mechanism for working in microfactory system.