• Journal of Drive and Control
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• v.19 no.2
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• pp.1-10
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• 2022

Field robots operate in various areas, including construction, agriculture, forestry and manufacturing. Typical tasks of field robots used in various areas include excavation, flattening, and demolition. Such tasks are often accomplished in narrow alleys or indoors. In the case of field robots, there is a limit to working in a small space. Thus, to compensate for these shortcomings, many field robots equipped with Tiltrotators have recently been observed. The advantages of Tiltrotator are improved task efficiency and reduced operating time by reducing unnecessary behavior. We need simulation models that can improve the ability of new people to work and simulate tasks in advance. Thus, in this paper, we developed a simscape-based simulation model and modeling of 6DOF systems for field robots equipped with Tiltrotator. Dynamic modeling of field robot 3D models using Simcape multibody and hydraulic systems of field robots using Simcape Hydraulics were modeled. We applied a PID controller to create a control system that operates along the input angle. Simulation results show that errors occur when comparing input and output angles, but overall, they move along input angles.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1997.10a
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• pp.283-286
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• 1997

일반적으로 직진 경로를 주행하는 이동로봇의 오차 보정을 위해서는 PI 제어기의 계수 보정이 필요하다. 본 논문에서는 직진 경로를 주행하는 이동로봇의 양쪽 바퀴에서 얻어진 엔코더의 값으로 측정하고, 측정되어진 엔코더의 값을 이용하여 방향과 움직임의 오차를 보정해주는 알고리즘을 PI제어기와 유전알고리즘을 사용하여 최적의 파라미터를 구할 수 있는 방법을 제안하였다.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.235-235
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• 2000

This paper proposes a tole force feedback control through internet systems. The system consists of joystick, solver, client, robot, and internet. The main contribution of this work is the implementation of the system rather than theoretical analysis. The time delay problems will be considered next step.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.328-333
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• 1996

In this paper, we propose a new method to estimate robot position without landmark. At first, it is studied to estimate robot state using Markov decision rule. And, a matching method is discussed for estimating current position more accurately under the estimated current state. At second, we combine or fuse the matching method with the POMDP method in order to estimate the position under a dynamically changing environment. Finally we will show that our method can estimate the position precisely and robustly of which error are not cumulated through simulation results.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1597-1600
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• 1997

Most autonomous mobile robots view things only in front of them. As a result they may collide against objects moving from the side or behind. To overcome the problem we have built an Active Omni-directional Range Sensor that can obtain omni-directional depth data by a laser conic plane and a conic mirror. Also we proposed a self-localization algorithm of mobile robot in unknown environment by fusion of Odometer and Active Omn-directional Range Sensor.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.289-292
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• 1997

In this paper, a continuous sliding mode controller for robot manipualator is proposed. The proposed scheme guarantees that the tracking error converges to zero maintaining the smoothness of the actual control signal. In order to estimate the acceleration data, a sliding mode observer is used, and the stability of the closed-loop system is shown.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.648-651
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• 1997

This paper proposes methods for the cooperative control of multiple mobile robots and constructs a robotic soccer system in which the cooperation will be implemented as a pass play of two robots. To play a soccer game, elementary actions such as shooting and moving have been designed, and Q-learning, which is one of the popular methods for reinforcement learning, is used to determine what actions to take. Through simulation, learning is successful in case of deliberate initial arrangements of ball and robots, thereby cooperative work can be accomplished.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.541-544
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• 1993

This paper attempts to propose new procedures to evaluate roughness of ground metallic surface in the range of 1-10.mu.m from data gained by an optical, in-process measurement of the surfaces. Studies are made to process the data of reflected lights pointed at the surface to be measured. Results obtained are compared with those of measurement by stylus roughness meter. Correlations between the two types of roughness measurement are well. The proposed method can be used as a sensor for a polishing robot.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.519-523
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• 1993

In this paper, the variable structure model following control scheme is proposed for the nonlinear robot manipulator system. The proposed control system guarantees that the system state is in the sliding mode for all time. Therefore, error transient can be prescribed in advance for all time. Furthermore, overall system is globally exponentially stable. Chattering problem is reduced by the introduction of a boundary layer. Simulation results are given to show the usefulness of the proposed control scheme.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.4
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• pp.393-402
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• 1990

An iterative learning contol method is presented for a class of linear periodic systems, in which a parameter estimator of the system together with an inverse system model is utilized to generate the control signal at each iteration. A convergence proof is given and two numerical examples are illustrated to show the validities of the algorithm. In particular, it is shown that the method is useful for the continuous path control of robot manipulators.