• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.76-81
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• 1994

A compliance control method of redundant manipulators is presented. This method is based on the new stiffness model, which allows us to modulate accurate joint stiffness of realizing the end effector stiffness to be varied with task requirements. Control model is developed and by implementing the proposed method in a three-dof(degree of freedom) planar redundant manipulator, its effectiveness is validated.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.237-240
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• 1996

Internal Force based control of dual redundant manipulator is proposed. One is resolved acceleration type control in the decoupled joint space which includes null motion space and the other is in the impedance control fashion in which the desired impedances are decoupled in three subspace, internal motion controlled space, orthogonal to that space, and the null motion controlled space. The internal force is formulated with its basis set meaningful. The object dynamics is also briefly evolved beforehand.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1136-1139
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• 1996

For on-line trajectory planning such as teleoperation it is desirable to keep good manipulability of the robot manipulators since the motion command is not given in advance. To keep good manipulability means the capability of moving any arbitrary directions of task space. An optimization process with different manipulability measures are performed and compared for a redundant robot system moving in 2-dimensional task space, and gives results that the conventional manipulability ellipsoid based on the Jacobian matrix is not good choice as far as the optimal direction of motion is concerned.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.8
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• pp.698-705
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• 2002

The redundant sensor configuration problem of inertial navigation system(INS) is considered and analyzed the navigation and fault detection performance according to various sensor configurations. We considered various kinds of redundant sensor configurations for symmetric, cone, and orthogonal configurations and compare the navigation and fault detection performance for the configurations. We show that the navigation and fault detection performance is not affected by the coordinate change for a fixed configuration.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.740-745
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• 2005

This study is intended to build a controller of redundant manipulators with the simultaneous abilities of trajectory tracking and obstacle avoidance without any preparations of path planning to achieve full automation even for one production of one kind, while keeping the avoidance ability high and keeping its shape away from object to reduce the possibility that the manipulator crashes to the object. To evaluate the avoidance ability of the intermediate link, we proposed a scalar value of Avoidance Manipulability Shape Index(AMSI), which is independent of the obstacle's shape. On the other hand, the danger to crash to the obstacle is depending on the shape of the obstacle, which could be evaluated by the potential field set around the obstacle. This paper proposes control method of the manipulator's shape based on the AMSI to simultaneously avoid obstacles and keep the avoidance ability high with potential.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2356-2361
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• 2005

In this paper, we present a complete isotropy analysis of a caster wheeled omnidirectional mobile robot(COMR) with nonredundant/redundant actuation. The motivation of this work is that the omnidirectional mobility loses significance in motion control unless the isotropy characteristics is maintained well. First, with the characteristic length introduced, the kinematic model of a COMR is obtained based on the orthogonal decomposition of the wheel velocities. Second, a general form of the isotropy conditions of a COMR is given in terms of physically meaningful vector quantities which describe the wheel configurations. Third, for all possible nonredundant and redundant actuation sets, the algebraic expressions of the isotropy conditions are derived to completely identify the isotropic configurations of a COMR. Fourth, the number of the isotropic configurations and the characteristic length required for the isotropy are discussed.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.10
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• pp.1002-1008
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• 2009

We consider a double faults detection and isolation problem using modified extended parity space approach for inertial measurement unit which use redundant inertial sensors. A redundant IMU which has a hardware redundant is composed of the cone shape because it is good for fault detection and isolation. We analyze the type of double faults and the reason why fault isolation performance is low. We propose modified extended parity space approach method using EPSA and the difference of sensor data.

• Journal of Information Display
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• v.10 no.1
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• pp.6-15
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• 2009

In this paper, a new approach is proposed for the efficient generation of computer-generated holograms (CGHs) using the spatially redundant data on a 3D object and the novel look-up table (N-LUT) method. First, the pre-calculated N-point principle fringe patterns (PFPs) were calculated using the 1-point PFP of the N-LUT. Second, spatially redundant data on a 3D object were extracted and re-grouped into the N-point redundancy map using the run-length encoding (RLE) method. Then CGH patterns were generated using the spatial redundancy map and the N-LUT method. Finally, the generated hologram patterns were reconstructed. In this approach, the object points that were involved in the calculation of the CGH patterns were dramatically reduced, due to which the computational speed was increased. Some experiments with a test 3D object were carried out and the results were compared with those of conventional methods.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2370-2373
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• 2004

In this paper we describe the design of a Dual-Redundant Power Controller(DRPC) for Control Rod Control System(CRCS). The CRCS also provides information regarding rod motion, rod position, and status of the Rod Control System. It has Hot/Stand-by type, and also has the function of fault detection for controller itself and power modules. We have implemented the various functions with the dual-redundant Power Controller. Due to the developed DRPC, we are assured that the commmecial use by this controller be made before long.

• Proceedings of the IEEK Conference
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• 2009.05a
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• pp.246-248
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• 2009

In this paper, we will describe architecture and key characteristic for the DHS which is used in COMS. DHS is implemented in the fully redundant SCU, the dual redundant MIL-STD-1553B system bus, the payload interface units(MPIU and MI2U), the redundant ADE. the SCU interface with the other main digital units of the spacecraft through the MIL-STD-1553B.