• ICROS
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• v.10 no.4
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• pp.13-18
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• 2004

로봇(Robot)이란 단어는 1921년에 최초로 연극이름에서 사용되었고. 체코언어인 robota(강제노동)와 robotik (노동자)의 합성어이다. 이러한 로봇은 현대 사회에서 보통 산업용 로봇을 뜻한다. 곧, 공장에서 하기 힘든 반복적인 일들을 인간을 대신하여 작업하는 기계들을 가르켜 로봇이라고 하였다. 그런데 최근에 와서 컴퓨터와 각종 기계, 전자 산업이 발전하면서 로봇이라는 의미가 공장안의 매니퓰레이터에서 점차 지능적이고 인간 생활환경에서 적응하고 인간과 친근할 수 있는 지능형 로봇으로 바뀌어 가고 있다. 대표적으로 휴머노이드(Humanoid)라는 인간과 닮은 2족 보행로봇을 예로 들 수 있다. (중략)

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.317-321
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• 1989

The FIC(Flat Integrated Circuits)is widely used for good productivity but very difficult for visual identification. The required position tolerance is 0.05mm and orientation tolerance is 0.25 degree for assembly. The research was performed to detect FIC defects and to estimate the placement of FIC within the tolerances. In this study an automatic visual system is developed, which can successfully perform a fine assembly operation using the cartesian robot.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.1075-1079
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• 1989

In this paper a robust control design is developed for the control of a multi-joint manipulators using sliding observer. The sliding observer is introduced to estimate the angular velocity of the links under the disturbance input. The feedback control is designed by the use of the estimated value of the angular velocity .theta.. The VSS control laws is introduced to ensure the robustness concerning the disturbance inputs. To illustrate the effectiveness of the proposed method, a computer simulation is performed for a two-joint manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.286-291
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• 1991

This paper discusses sliding made control of robot manipurators assuming that nonlinear terms, which are inertia term, Coriolis force term and centrifugal taffn, are external disturbances. We obtained the unknown parameter of its linear terms by Signal Compression Method. We propose a new control input algorithm to decrease chattering in the application of sliding mode control of manipulator whose nonlinear components are regarded as disturbances. In this experiments, we used DSP(Digital Signal Processor) controller to suppress chattering by obtaining a quick switching speed.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.448-451
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• 1988

This paper deals with the rotation-free optical sensor which will be used for two dimensional robot tracking. This sensor consists of position sensing device and coordinate transformation unit which transform the sensor coordinate into base coordinate. A new coordinate transformation algorithm which use analog signal is presented, and an analog circuit based on this algorithm is constructed. To prove the rightness of this algorithm, same experiments are carried out. And the performance, of this sensor is investigated.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.124-126
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• 1989

Inverse kinematic problem is a crucial point for robot manipulator control. In this paper, to implement the Jacobian control technique we used the Hopfield(Tank)'s neural network. The states of neurons represent joint veocities, and the connection weights are determined from the current value of the Jacobian matrix. The network energy function is constructed so that its minimum corresponds to the minimum least square error. At each sampling time, connection weights and neuron states are updated according to current joint position. Inverse kinematic solution to the planar redundant manipulator is solved by computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.643-648
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• 1989

This paper presents a theoretic study and computer simulation of models and approaches for dynamical obstacle avoidance by mobile robots. The movement of obstacles in unknown environment is described by any one or a combination of three models. The control strategy of the mobile robots is formulated based on one of three approaches. A trajectory-guided control strategy for dynamical obstacle avoidance has been developed. The method greatly simplifies the control process of mobile robots, and is computationally attractive.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.663-668
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• 1989

Control methods to achieve efficient and accurate deburring robots are proposed. For efficiency, cutting speed is controlled adoptively with the cutting load. For accuracy, it adopts repetitive control. Since usual repetitive control cannot afford dynamical speed changes, the proposed method controls in an interpolating manner using several waveforms stored in the controller. Successful experimental results axe shown.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.154-159
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• 1989

This paper presents a motion planning algorithm for conveyor tracking. We formulate the problem as the linear quadratic tracking problem in optimal control theory and solve it through dynamic programming. In the proposed algorithm, the steady-state tracking error is eliminated completely, and the joint torque, velocity, acceleration, and jerks are considered as some constraints. Numerical examples are then presented to demonstrate the utility of the proposed motion planning algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.642-645
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• 1991

This paper presents the results of research on hardware and software of the landmark tracking system to the positions of moving robot in real time. The landmark tracking system is composed of CCD camera, landmark, strobo system and image processing board. The algorithm calculates the position and direction by using the coordinate transformation fomula after calculating the centroid and rotation angle of landmark at fixed position using the image data. The experiment is performed with landmark tracking system is loaded on xyz-table. XYZ-table is used for identifying the true position in our experiment. The results shows that this system has high performance with maxima error of .+-.1 pixels.