• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.560-563
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• 1997

The conventional impedance control has been known to have the following problems: it has lack of specifying force directly and unknown environment stiffness has to be known priori in order to specify the reference trajectory. In this paper, new impedance force control that can control a desired force directly under unknown stiffness is proposed. A new nonlinear impedance function is developed based on estimation of unknown stiffness from force and position measurements. The nonlinear characteristics of the proposed impedance function are analyzed based on unknown environment position. Simulation studies with robot manipulator are carried out to test analytical results.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.776-778
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• 1997

We propose a remote controller for a SCARA typed direct drive manipulator with two degrees-of-freedom(DOF). A remote controller system for SCARA robot of DDA is designed using a 2 DSP (TMS320c31) board and Winsock(Internet program class library supplied by Microsoft). The design objective of the system is to implement real time dynamic control algorithms which have been tested only by simulations so far and remote control regardless of the distance between user and robot. Because this system runs on Win95, we developed a VxD program to communicate with DSP controller.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.354-359
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• 2003

In this paper, we consider the problem of designing a simple learning variable structure system for repeatable tracking control of robot manipulators. We combine a variable structure control law as the robust part for stabilization and a feedforward learning law as the intelligent part for nonlinearity compensation. We show that the tracking error asymptotically converges to zero. Finally, we give computer simulation results in order to show the effectiveness of our method.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2387-2392
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• 2003

In this paper, We designed the local path planning direction algorithmusing fuzzy controller applied fuzzy logic. Algorithm decieded a direction angle by theposition of obstacle, the distance with obstacle, the progress direction of robot, the speed of vehicles and the perception area of sensor. The robot designed with proposed algorithm carried out soft moving without any particular operation, and we could observe that it had very soft curved moving as if an expert drove.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2022-2026
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• 2003

We define that the end effector is the device which interact environment or objects with contact to execute tasks. Up to now, many researchers developed anthropomorphic robotic hands as end effectors. In this paper, we will discuss a problem on the development of a human-scale and motor-driven anthropomorphic robot hand. In this paper, design concept, actuator and transmission, kinematic design and sensing device are presented. By imitating the physiology of human hands, we devised new metacarpalphalangeal joint and interphalangeal joint suitable for human-size robot hands

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1671-1676
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• 1991

Direct digital design of computed torque controllers for a robot manipulator is discussed in this paper. A simple discrete-time model of the robot manipulator obtained by Euler's method is used for the design. Taking account of computation delay in the digital processor, we propose predictor-based designs of the PD and PID type controllers. The PID type controller is designed based on a modified version of the discrete-time integral controller proposed by Mita. For both controllers, the same formulas can be used to determine the feedback gains. A simulation example is presented to compare the robustness of the proposed controllers against physical parameter variations.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.224-229
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• 1993

The robot has spread remarkably, is used not only in manufacturing but also in various other fields, and is becoming more popular in everyday life. At the same time, the functional demands for all manner of robots have been diversified. Education regarding robots has been developing in the computer, mechanism, sensor and artificial intelligence fields. Technical education which integrates all of the above is necessary and in great demand. We have developed an educational robot so that it can be used in education in fields including structure, sensory and brain function and can also organically integrate those.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1031-1035
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• 1993

In this paper, we suggest a new algorithm diminishing the chattering in sliding mode control by setting a dead-band along the switching line on the phase plane although nonlinear terms of an nonlinear system are regarded as disturbances and apply this algorithm to the trajectory control of SCARA robot By this algorithm, we can expect the high performance of the trajectory trajet of an industrial robot which needs a robust and simple algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.654-659
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• 1993

In this paper, a robot controller that has a real time-multitasking OS (Operating System) is developed. It can do given jobs in realtime, so its effectiveness is increased. The controller has several CPU boards, and it is needed to communicate among these boards. For that reason, it is adopted VME bus system and VMEexec OS that can process multiprocess in realtime. Multiprocess includes robot language edit process, vision process, low level motion control process, and teach process in higher layer. And dynamics, kinematics, and inverse kinematics that require realtime calculation are included in lower layer.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.100-105
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• 1993

This paper discusses an approach to real-time path-planning of mobile robot navigating amidst multiple obstacles. Given an environment with the coordinates of known obstacles, the moving area of a mobile robot is divided into many patches of triangles with small edge length, in order to ensure a path better than those reported in the literature. After finding a minimum-distance to minimize the number of turns and total path-length by two-step path-revision and path-smmothing.