• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.501-506
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• 2000

Many research in Robot control has effectively proceeded on the development of Aritficial Intelligence Robot which is able to apply to the uncertain and monotonous operations which are repeated continuously in the industrial field. In this study, the precise shape recognition of base metal for welding was gained by mono CCD camera, and the gained data was transformed into Decimal code through Image Board in computer. And the Fuzzy Logic control system designed by use of Fuzzy rule was built to judge whether the base metals were precisely matched or not with Decimal code. Machanically manipulated Robot syst em was linked to Fuzzy Control system through image information, and ultimately, these systems will be able to apply for production system.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.446-446
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• 2000

This paper presents the design of a passive biped walking robot based on limit cycle analysis. By using numerical analysis and experiment, we identify better design criterion for biped walking robot. In designing robot parameters we apply global search method to find limit cycles for given robot parameters and ground angle. Internal parameter variation changes limit cycle behavior, total energy, strides, etc and the characteristics of walking is analyzed by simulation and experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.555-555
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• 2000

This study is concentrated on the development of hight speed multi-object image processing algorithm, and based on these a1gorithm, vision control scheme is developed for the robot's position control in real time. Recently, the use of vision system is rapidly increasing in robot's position centre. To apply vision system in robot's position control, it is necessary to transform the physical coordinate of object into the image information acquired by CCD camera, which is called image processing. Thus, to control the robot's point position in real time, we have to know the center point of object in image plane. Particularly, in case of rigid body, the center points of multi-object must be calculated in a image plane at the same time. To solve these problems, the algorithm of multi-object for rigid body control is developed.

• The Journal of Korea Robotics Society
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• v.4 no.3
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• pp.225-232
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• 2009

In the high precision robot systems, the most popular tasks may be handling of micro-scale objects on a surface such as a micromanipulation robot system. In handling of micro-scale objects, the stiction effect becomes a fundamental issue since the micro-contact mechanics dominates the micromanipulation robot system. In the paper, a theoretical non-stick condition derived from the micro-contact mechanics is carried out for the propose of micro-scale object manipulation. To verify the non-stick condition, a micro-manipulation robot system equipped with a high precision stage system and a microscope system is developed. Experimental results show that the proposed non-stick condition guarantees successful micro-scale object manipulation.

• The Journal of Korea Robotics Society
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• v.3 no.1
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• pp.16-22
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• 2008

Recently, automatic parking assist systems are commercially available in some cars. In order to improve the reliability and the accuracy of parking control, pose uncertainty of a vehicle and some experimental issues should be solved. In this paper, following three schemes are proposed. (1) Odometry calibration scheme for the Car-Like Mobile Robot.(CLMR) (2) Accurate localization using Extended Kalman Filter(EKF) based redundant odometry fusion. (3) Trajectory tracking controller to compensate the tracking error of the CLMR. The proposed schemes are experimentally verified using a miniature Car-Like Mobile Robot. This paper shows that odometry accuracy and trajectory tracking performance can be dramatically improved by using the proposed schemes.

• The Journal of Korea Robotics Society
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• v.2 no.3
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• pp.212-220
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• 2007

This paper proposes a method of avoiding obstacles and tracking a moving object continuously and simultaneously by using new concepts of virtual tow point and fuzzy danger factor for differential wheeled mobile robots. Since differential wheeled mobile robot has smaller degree of freedom to control and are non-holonomic systems, there exist multiple solutions (trajectories) to control and reach a target position. The paper proposes 'fuzzy danger factor' for obstacles avoidance, 'virtual tow point' to solve non-holonomic object tracking control problem for unique solution and three kinds of fuzzy logic controller. The fuzzy logic controller is policy decision controller with fuzzy danger factor to decide which controller's result is more valuable when the mobile robot is tracking a moving object with obstacles to be avoided.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.3
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• pp.401-406
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• 2013

The mobile robot is one of the widely-used systems in service industry. We propose a gain-scheduling feedback controller for the tracking control of the mobile robot. The benefit of our proposed controller is that it avoids the singularity issue occurs with the controllers suggested in [4], [10]. Moreover, we show the stability analysis of the controlled system via a Lyapunov stability approach such that the exponential convergence of tracking error to zero is analytically provided. The simulation results show the validity of the proposed controller and improved control performance over the conventional controller.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.151-156
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• 1998

In this paper, we present new control method for robot manipulators. The design objective can be the implementation of minimax controller with H$_{\infty}$ performance via LMI approach to guarantee the robustness and to obtain the exact tracking performance for robot manipulators with system parameter uncertainty and exogenous disturbance. We show that the Algebraic Riccati equation (ARE) which is needed for the construction of H$_{\infty}$ controller can be recast into the Algebraic Riccati Inequality (ARI) and the optimal control gain can be obtained by convex optimization method. Then, we will apply the proposed controller to rigid robot manipulators for verifying the performance of our controller.

• Journal of Information Processing Systems
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• v.8 no.3
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• pp.471-482
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• 2012

For disaster exploration and surveillance application, this paper aims to present a novel application of a multi-robot agent based on WSN and to evaluate a multi-hop communication caused by the robotics correspondingly, which are used in the uncertain and unknown subterranean tunnel. A Primary-Scout Multi-Robot System (PS-MRS) was proposed. A chain topology in a subterranean environment was implemented using a trimmed ZigBee2006 protocol stack to build the multi-hop communication network. The ZigBee IC-CC2530 modular circuit was adapted by mounting it on the PS-MRS. A physical experiment based on the strategy of PS-MRS was used in this paper to evaluate the efficiency of multi-hop communication and to realize the delivery of data packets in an unknown and uncertain underground laboratory environment.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.30.1-30
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• 2001

This paper describes a new cooperative strategy for two wheelchairs to climb a step. These two wheelchairrobots are connected with a simple linkage mechanism between the rear of one wheelchair and the front of another. Two wheelchair robots climb a step one after the other. In this research, We did not use a method by Which a robot lifts up and supports its weight using any special actuator but a method of handling the robot's moment of rotation by the force of the link which come from the assisting robot. This method is especially influenced by the height of the two robot's link positions. So we study this method from the viewpoint of changing the two-link positions....