• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.119.3-119
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• 2002

$\textbullet$ A bone-mountable surgical robot system for hip surgery $\textbullet$ A simple gauge-based registration method $\textbullet$ A proposed surgical procedure $\textbullet$ Evaluation method for position/orientation accuracy $\textbullet$ Evaluation method for surface conformity $\textbullet$ The performance evaluation of ARTHROBOT $\textbullet$ Summary

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.12-17
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• 1991

In this paper, a variable structure system control method is proposed to the trajectory control of robot arm. A proposed method uses nonlinear switching function and saturation function. Furthermore, learning control method uses to decrease of the following error. The computer simulation results show that the chattering and the following error decrease and is improved the control the performance by a proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.30-33
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• 1991

The natural frequency of an one-link flexible robot manipulator may be varied due to many kinds of causes and this natural frequency is regarded as the uncertain element. Utilizing measured state the robust controller is designed for bounding every system response within a certain neighborhood of the zero state.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.534-539
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• 1988

This paper presents a method to balance the links of an articulated robot for an unknown payload using an automatic balancing mechanism. The balancing masses are controlled to move in their appropriate locations so that the joint torques of the links are eliminated. After balancing the mass of the payload is obtained from the balancing conditions. Based upon a series of simulation studies some results are discussed.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.861-865
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• 1991

In general, the fusion of neural network and fuzzy logic theory is based on the fact that neural network and fuzzy logic theory have the common properties that 1) the activation function of a neuron is similar to the membership function of fuzzy variable, and 2) the functions of summation and products of neural network are similar to the Max-Min operator of fuzzy logics. In this paper, a fuzzy-neural network will be proposed and a force controller of the robot gripper, utilizing the fuzzy-neural network, will be presented. The effectiveness of the proposed strategy will be demonstrated by computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.206-210
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• 1989

In automobile glass fitting the stud is welded on the window seating panel in order to insert the plastic molding onto the stud. Since this type of process is in general manually done, almost 50% of the output turns out to be failure resulted from work inefficiency and weld inferiority. Therefore, it is required to improve this process for the productivity elevation through the application of the robot.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.663-668
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• 1991

In order to navigate, mobile robot needs to avoid obstacles on his way. We describe a stereo vision method for detecting obstacles on the floor ground. With the knowledge of floor geometry, stereo images are transformed so that the relative views of obstacle to the floor are seen. After comparing the transformed images, obstacles information such as location and size are extracted and determined from the local disparities. Some experimental results are shown.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.183-187
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• 1989

This paper presents on approach to the position control of a robot manipulator by using a decentralized adaptive control scheme. The large scale system is regarded as the system which consists of many subsystems having interconnection. In each subsystem, a local control system is composed by feedforward and feedback component, one computes the nominal torque from the Newton-Euler equation, the other computes the perturbation equation which reduce the position error of the manipulator along the nominal trajectory. A computer simulation studies was conducted to evaluate and compare the performances of the proposed manipulator control scheme with those of the PD control and centralized control schemes.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.211-215
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• 1989

This paper describes a dynamic robotic assembly system in which an industrial robot executes peg-in-hole task in a moving state. As an effective means to synchronize the end-effector of the robot with the moving conveyor this work uses a control algorithm which is essentially a PID position control scheme combined with velocity feedforward loop. A RCC wrist is used for the inserting task and its force responses are investigated for various tracking conditions and inserting velocities through a series of experiments.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.230-234
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• 1989

This paper presents the design of a prototype robot and architecture of a distributed control system. The robot, named as KAEROT, has been developed for the purpose of the reduction of personal radiation exposure and the remote maintenance tasks in nuclear facilities. The mobile system with robotic manipulator has been designed to go up and down stairs. For the dextrous handling, this manipulator will be designed as a redundant type to act like a human arm. Manipulator control system is to be extended easily for further usage with a modular architecture to get independency and reliability by minimizing EMI effects.