• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.638-641
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• 1992

In this paper, a hybrid position/force control scheme is proposed. The control scheme modifies the position command for force control against constraint surface of environment and is very simply designed and implemented. The merits of the control scheme are that it can cope with change of constraint conditions and small position inaccuracy of the environment. A constraint surface position observer is also proposed to reduce disturbances on controlled force.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.863-868
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• 1992

This paper presents a method on applying Genetic Algorithm(GA), which is a well-known high performance optimizing algorithm, to construct the self-organizing fuzzy logic controller. Fuzzy logic controller considered in this paper utilizes Sugeno's hybrid inference method, which has an advantage of simple defuzzification process in the inference engine. Genetic algorithm is used to find the optimal parameters in the FLC. The proposed approach will be demonstrated using 2 d.o.f robot manipulator to verify its effectiveness.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.230-235
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• 1992

We propose a method of generating data to train a neural network controller. The data can be prepared directly by an iterative learning technique which repeatedly adjusts the control input to improve the tracking quality of the desired trajectory. Instead of storing control input data in memory as in iterative learning control, the neural network stores the mapping between the control input and the desired output. We apply this concept to the trajectory control of a two link robot manipulator with a feedforward neural network controller and a feedback linear controller. Simulation results show good generalization of the neural network controller.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.708-713
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• 1992

본 논문은 주조공정후 주물의 라이져(Riser)나 버어(Burr) 등을 제거하는 페틀링(Fettling) 작업의 자동화에 대해서 기술한다. 이 작업을 주물의 마무리 작업이라 하는데 이 분야는 작업상의 특수성과 적용 로봇의 미개발로 아직 산업현장에서 실용화 되지 못한 분야이다. 본 논문에서는 그라인딩 작업 환경과 이 분야에 적용되는 로봇의 필요조건에 관해서 기술하고 이 분야에 적합하도록 제작된 MC 560 로못을 소개한다. 주물제작의 마무리 작업은 로봇 이외에도 여러종류의 가공기계와 주변기기를 요구한다. 본 논문은 주물의 재질과 형상에 따른 가공기계 선택방법과 주변기기의 설계 등을 기술하며 자동화 시스템의 구성요소, 작업공정, 작업효과 등에 관해서 논한다.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.31-36
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• 1992

This paper describes the development of a 'General-purpose ETRI MAP interface module' (GEM) for a Mini-MAP network. GEM operates as a Mini-MAP node in our FA system. To communicate between GEM and programmable devices such as PLC, CNC, and robot, RS232C is used, which is a traditional method. A Mini-MAP host system controls and monitors programmable devices via GEM. The Mini-MAP function of GEM is implemented and tested on the basis of the MAP V3.0.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.507-512
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• 1992

This paper presents a method for the automatic generation of assembly sequences based on the recursive extraction of a preferred part along with the verification of its disassemblability. To verify the disassemblability of the part we inference the geometric precedence constraints using a method of extracting separable directions for the part and determine the disassemblability cost by the separability and stability cost. The proosed method provides a local optimal solution of finding a cost effective assembly plan, and the feasibility of calculating robot motion programs by evaluating separable directions in flexible manufacturing application. A case study is given to illustrate the concepts and procedure of the proposed scheme.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.1008-1013
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• 1992

본 논문에서는 다중 로보느의 협조제어(Coordinated Control)를 위한 로보트 콘트롤러의 설계에 대해서 연구한다. 첫 부분에서는 다중 로보느의 연구배경 및 연구동기에 대해서 논의하고 이어서 Coordinated Task를 묘사하기 위한 Programming Primiitive Set을 정의하며 구현에 대해서도 논의한다. 특히 Motopn Primitive는 synchronous(Coordinated Motion), Asynchronous Motion, Conditional Motion, 특수 Motion으로 분류하고, 각각의 궤적계획 및 구현에 대해서도 간단히 논의한다. 특히 본 논문에서는 외부의 변화하는 환경에 효과적으로 적응할 수 있게 하기 위하여 Vision센서, Encoder신호와 Limit센서, Force센서 등의 다양한 외부 센서를 융합 처리할수 있는 다중 로보트 제어 시스템을 개발하였다.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.327-331
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• 1992

In this paper, we propose dynamic hybrid control method which takes the manipulator dynamics into consideration and extend to two cooperating robots. The first step is the linearization of the manipulator dynamics and the second step is the design of position/force controllers for the linearized model which takes account of both the command response and the robustness of the controllers to modeling errors and disturbance. We also consider load sharing for each robot.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.780-785
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• 1992

We present a multi-sensor fusion method in positioning control of a robot by using fuzzy logic. In general, the vision sensor is used in the gross motion control and the force/torque sensor is used in the fine motion control. We construct a fuzzy logic controller to combine the vision sensor data and the force/torque sensor data. Also, we apply the fuzzy logic controller to the peg-in-hole process. Simulation results uphold the theoretical results.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.343-347
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• 1992

In this paper, an unilateral teleoperation system using an universal master arm is developed. This system is composed of an universal master arm, a slave arm and a telerobot controller. The universal master arm has a vertically articulated type link structure, while an industrial robot is used as a slave arm. As the shapes of master arm and slave arm are different, the workspace mapping is needed, which maps the workspace of master arm to that of slave arm. Experimental results show that the slave arm of the developed system effectively follows the operator's motion.