• 한국정밀공학회지
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• 제6권4호
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• pp.108-118
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• 1989

An adaptive control scheme has been recognized as an effective approach for a robot manipulator to track a desired trajectory in spite of the presence of nonliearity and parameter uncertainty in robot dynamics model. In this paper, an adaptive control scheme for a robot manipulator is proposed to design robust controller using model reference adaptive control technique and hyperstability theory but it does away with] assumption that the process is characterized by a linear model remaining time invariant during the adaptation process. The performance of controller is demonstrated by the simulation about position and speed control of a six-link manipulator with disturbance and payload variation.

• 전기전자학회논문지
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• 제14권2호
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• pp.58-63
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• 2010

본 논문에서, 평탄한 경로 뿐 아니라 바위 등의 험로환경에서도 로봇이 주행하도록 다족류 절지동물과 유사한 구조를 갖는 다중 모듈형 로봇의 설계 및 구현을 다룬다. 각 모듈은 독립 전원과 제어장치, 구동부 및 근거리 Zigbee 무선통신을 포함하고 있으며 절지동물의 한마디를 구현하였다. 주행방향 및 경로 조건에 따라 각 모듈은 무선통신에 의하여 동일한 주행방향을 가지며 모듈의 구동부를 가동 또는 차단할 수 있도록 설계하였다. 주행시 경로의 조건에 따라 각 모듈의 속도와 토크를 계산하며 험한 경로의 경사도에 따라 구동 되는 모듈 수를 가변적으로 조정하여 험로 및 평탄도로 등의 다양한 경로환경에 효율적으로 주행하도록 하였다. 험로 모델을 이용한 실험을 통하여 모듈을 가변적으로 구동할 수 있는 로봇을 구현하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1990년도 하계학술대회 논문집
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• pp.504-509
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• 1990

This paper presents a decentralized adaptive control scheme for multi-Joint robot manipulators based on the independent joint control scheme. The control object is to achieve accurate tracking of desired Joint trajectories. The proposed control scheme does not use the complex manipulator dynamic model, and each joint is controlled simple by a feedback controller which ensure stable and also a position-velocity-acceleration feedforward controller and also auxiliary signal, with adjustable gains. Simulation results are given for a two-link manipulator under independent control, proposed decentralized adaptive control of manipulator is feasible. In spite of a pay load variation and strong static and dynamic couplings that exist between the joints.

• 대한인간공학회지
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• 제12권1호
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• pp.17-24
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• 1993

Today, rapid development and timeliness of introducing a new product be- comes a more influencing factor of determing its competitive power due to a shortened product cycle, while rapid improvement of manufacturing technology makes product design and manufacturing fuse together. This implies that prod- uct usability evaluation and improvement starts right from its design phase, resulting in less development time and cost. To make this possible, proper as- sessment of human reach is one of essential functions for ergonomic product us- ability evaluation, specifically in the platform of computer-aided ergonomic evaluation models or any CAD system with a built-in man model. In this study, an analytic reach prediction algorithm ensuring the posture that human naturally takes, is presented by employing the methods developed for robot kinematics. Among robot kinematic methods for solving the multi-link system, the resolved motion method was found to be effective to solve human reach as a redundant manipulator model. Also, the joint range availability was used as a performance fonction to guarantee human naturalness. The result is expected to be directly applicable to product usability evaluations.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2008년도 하계학술대회 논문집
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• pp.592-594
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• 2008

The powers used in the robot drive motor system are mostly DC sources such as batteries. Even AC powers in some systems are generated from DC sources by the inverter. It is can be forecasted that the DC-link communications will be widely used invarious industrial application. In this paper a novel BLDC motor drive system by using DC-link communications is proposed. The characteristic of this system is the communication only needs 2 DC lines. There are not additional lines to translate the reference signals and the reliability of the system is enhanced especially in some badly circumstance. The number of lines can be least when applied in the multi motor control system and the slip ring design can be simplified when applied as rotation machine. The reasonableness of proposed motor system is clarified by the PSIM simulation and the hardware prototype.

• Transactions on Control, Automation and Systems Engineering
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• 제1권1호
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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.

• 융합신호처리학회논문지
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• 제19권2호
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• pp.77-88
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• 2018

본 논문은 입력 포화를 가지는 불확실한 전기 구동 로봇 시스템에 대해 입자 군집 최적화(PSO)를 이용한 방사형 기저 함수 신경망(RBFNN) 기반 분산 적응 추종 제어 기법을 제안한다. 실제적으로 로봇 시스템에서는 구동기의 포화로 인해 입력 전압과 전류 신호 크기가 제한된다. 제안된 제어기는 이러한 입력 포화를 극복하며, 어떠한 로봇 링크 및 구동기의 모델 파라미터들을 요구하지 않는다. 제시된 PSO 기법에서 쓰인 적합도 함수는 추종 오차만이 아니라 전압과 전류의 크기를 포함하는 다중 목적 함수로 표현된다. PSO 기법을 이용하여 제어 이득과 방사형 기저 함수의 개수가 자동으로 조정되어 제어 시스템의 성능이 개선된다. 리아푸노프 안정도 해석에 의해 전체 제어 시스템의 안정도가 보장된다. 제안된 제어 기법의 타당성과 강인성이 시뮬레이션 결과를 통해 검증된다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.939-944
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• 2007

Generally, development of a robot capable of fast movements or high payloads is progressed by the analysis of dynamic characteristics, DOF positioning, actuator selection, structure of links, and so on. This paper highlights the design of a robot manipulator handled by a human for man-machine cooperation. The requirements of the proposed system include its having multi-DOF(Degree of Freedom)and the capacity for a high payload in the condition of its maximum reach. The primary investigation factors are motion range, performance within the motion area, and reliabilityduring the handling of heavy materials. Traditionally, the mechanical design of robots has been viewed as a problem of packaging motors and electronics into a reasonable structure. This process usually transpires with heavy reliance of designerexperience. Not surprisingly, the traditional design process contains no formally defined rules for achieving desirable results, as there is little opportunity for quantitative feedback during the formative stages. This work primarily focuses on the selection of proper joint types and link lengths, considering a specific task type and motion requirements of the heavy material handling.

• 대한전기학회논문지:시스템및제어부문D
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• 제51권2호
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• pp.55-60
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• 2002

This paper presents a controller for the multiple DC motors using the CAN(Controller Area Network). The controller has a benefit of reducing the cable connections and making the controller boards compact through the network including expansibility. CAN, among the field buses, is a serial communication methodology which has the physical layer and the data link layer in the ISO's OSI (Open System Interconnect) 7 layered reference model. It provides the user with many powerful features including multi-master functionality and the ability to broadcast / multicast telegrams. When we use a microprocessor chip embedding the CAN function, the system becomes more economical and reliable to react shortly in the data transmission. The controller, we proposed, is composed of two main controllers and a sub controller, which have built with a one-chip microprocessor having CAN function. The sub controller is plugged into the Pentium PC to perform a CAN communication, and connected to the main controllers via the CAN. Main controllers are responsible for controlling two motors respectively. Totally four motors, actuators for the biped robot in our laboratory, are controlled in the experiment. We show that the four motors are controlled properly to actuate the biped robot through the network in real time.

• 한국정밀공학회지
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• 제5권3호
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• pp.20-30
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• 1988

Using the design parameters of multi-joint manipulator, worspace of the manipulator were evaluated analytically, and the relation between such design parameters and nonlinearity of the manipulator were presented dynamically. The ratio of the volumes of a manipulator's workspace to the cube of its total link length presents a kinematic performance index [NVI] for the manipullator. It is possible to geometrically represent the manipulator dynamics with the generalized inertia ellipsoid (GIE). The relation between the GIE configuration and the characteristics of manipulator dynamics was analysed in terms of inertia and nonlinear forces (Coliolis and centrifugal forces). The nonlinearity caused by the change of the GIE configuration were affected by the difference between the major and minor axes length of the GIE. The results of this investigationare applied to the optimal design of the manipulator.