• Transactions of the Korean Society of Mechanical Engineers A
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• v.22 no.4
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• pp.768-778
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• 1998

Human beings usually absorb a shock from terrain during walking through the damping effects of joints, muscles and skin. With this analogy, a robot-leg with a shock absorber is built to absorb the impact forces at its foot during high-speed walking on irregular terrain. To control the hip position while walking, the dynamic controller suitable for high speed walking is designed and implemented based on a dynamic model by Kane's equation. The hip position tracking performances of various controllers (PID controller, computed torque controller and feedforward torque controller) are compared through the experiments of the real robot-leg.

• 전기의세계
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• v.29 no.7
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• pp.460-470
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• 1980

The design of a control unit for a playback-type industrial robot is studied. Implemented for the cylindrical-coordinate type industrial robot with 5 degrees of freedom, the control unit constructed for the study consists of (i) z-80 .mu.p-based .mu.-computer control system (ii) Teach-Box for work command, and (iii) various softwares for generating signals for servo driving unit and operating the robot as playback-type. Softwares are developed by using high level Basic Language and low level z-80 Assembly Language for ease of programming and speed of program execution. To show the effectiveness, and example is included.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.355-355
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• 2000

The position control accuracy of a robot manipulator is significantly deteriorated when a long arm robot is operated at a high speed. This paper presents a very simple sliding mode control which eliminates multiple mode residual vibration in a 개bot manipulator. The neural network is used to avoid that sliding mode condition is deviated due to the change of system parameter and disturbance. This paper is suggested control system which designed by sliding mode controller using neural network. The effectiveness of proposed scheme is demonstrated through computer simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.3
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• pp.300-305
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• 2009

This paper describes the intelligent robot's hand with three-axis finger force sensors for an intelligent robot. In order to grasp an unknown object safely, it should measure the mass of the object, and determine the grasping force using the mass, then control the robot's fingers with the grasping force. In this paper, the intelligent robot's hand for an intelligent robot was developed. First, the three-axis finger force sensors were designed and manufactured, second, the intelligent robot's hand with three-axis finger force sensors were designed and fabricated, third, the high-speed control system was designed and manufactured using DSP( digital signal processor), finally, the characteristic test to grasp an unknown object safely was carried out. It was confirmed that the developed intelligent robot's hand could grasp an unknown object safely.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.10
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• pp.1023-1029
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• 2013

Water running animals such as basilisk lizards have an advantage of high-speed movement and high power efficiency on water; so researchers in robotic fields have been interested in the water running locomotion. This paper presents prototype-design and experimental study on the fourand six-legged water running robot. Based on the previously proposed quadruped water running robot, we assemble a hexapedal water running robot. The legs of the water running robot are designed based on four-bar parallel link for repeated motion along to pre-defined path. Stability performance of the quadruped and hexapedal water running robot are investigated by experiments on rolling criterion. As a result, hexapedal robot performs better stability than quadruped robot. Based on the hexapedal robot design, we are planning to optimize the position of legs and operating frequency.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.2
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• pp.220-227
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• 1999

The position control accuracy of a robot arm is significantly deteriorated when a long slender arm robot is operated at a high speed. In this case, the robot arm needs to be modeled as a flexible structure, not a rigid one, and its control system needs to be designed with its elastic modes taken into account. In this paper, the vibration control scheme of a one-link flexible manipulator using adaptive input shaper in conjunction with PID controller is presented. The robot consists of a flexible arm manufactured with a thin aluminium plate, an AC servo motor with a harmonic drive for speed reduction, an optical encoder and an accelerometer. On-line identification of the vibration mode is done using the pruned decimation-in-time FFT algorithm to estimate the parameter of the input shaper. Experimental results of the flexible manipulator with a PID controller and input shaper are provided to show the effectiveness of the advocated controllers.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.337-338
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• 2011

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.329-330
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• 2011

• Proceedings of the KIEE Conference
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• 1993.07b
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• pp.1020-1022
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• 1993

The speed control associated with do send motors for direct-drive applications of mobile robot is considered. In odor to the high-performance operation of dc servo motor, drive circuits is controlled Pulse Width Modulations. In this case, PWM driving circuit has nonliner charactristics. This circuit composed of H-type bridge with freewheeling diodes in odor to deal with storage energy of motor's inductance and also control method is developed. At resultes, speed charactristics of motor is shown lineristics. In oder to speed control of motor. The opertion of phase-locked servo system is described and a linear discrete model is developed to their behavior. Thise model discussed are the design problems, speed variation.

• Journal of Biomedical Engineering Research
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• v.24 no.2
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• pp.127-132
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• 2003

In this paper. the pneumatic service robot with a hybrid type is developed. A pneumatic has the advantages of good compliance , high Payload-to-weight and payload-to-volume ratios. high speed and force capabilities. Using pneumatic actuators. which have low stiffness. the service robot can guarantee safety. By suggesting a new serial-parallel hybrid type for the service robot which separates into Positioning motion and orienting motion, we can achieve large workspace and high strength-to-moving-weight ratio at the same time. A sliding mode controller can be designed for tracking the desired output using the Lyapunov stability theory and structural properties of pneumatic servo systems. Through many experiments of circular trajectory. the Pneumatic service robot is evaluated and verified.