• Journal of Institute of Control, Robotics and Systems
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• v.10 no.4
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• pp.350-356
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• 2004

This paper presents a farce manipulability analysis of multi-legged walking robots, which calculates force or acceleration workspace attainable from joint torque limits of each leg. Based on the observation that the kinematic structure of the multi-legged walking robots is basically the same as that of multiple cooperating robots, we derive the proposed method of analyzing the force manipulability of walking robot. The force acting on the object in multiple cooperating robot systems is taken as reaction force from ground to each robot foot in multi-legged walking robots, which is converted to the force of the body of walking robot by the nature of the reaction force. Note that each joint torque in multiple cooperating robot systems is transformed to the workspace of force or acceleration of the object manipulated by the robots in task space through the Jacobian matrix and grasp matrix. Assuming the torque limits are given in infinite norm-sense, the resultant dynamic manipulability is derived as a polytope. The validity of proposed method is verified by several examples, and the proposed method is believed to be useful for the optimal posture planning and gait planning of walking robots.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.9
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• pp.922-929
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• 2014

Wind turbines are in the limelight in the alternative energy industry. However, they face frequent and various problems during operation. We focused on the supervising of the blades of a wind turbine. In this paper, we present the design of a maintenance robot that takes the size of wind turbine blades into consideration, so the general form of the robot is a square with four wires fixed to its vertices and to the nacelle. After the robot is placed near the nacelle, it moves along the blades. We also designed an attitude control algorithm for the robot to maintain its balance. Our control algorithm for the robot consists of roll and pitch attitude controllers and a height controller. Each controller was designed independently and then superposed together. We used simulations to verify our control algorithm.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.2
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• pp.158-165
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• 2013

This paper presents design and workspace analysis of a Korean home service robot. The robot is designed with specific needs of floor-task applications suitable for Korean life style. Shoulder and waist of the robot are adjusted by sliding mechanism to increase the workspace of the robot arms. Manipulators are designed and built and their workspaces are analyzed. Experimental studies of the robot for cleaning the floor are conducted.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.645-650
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• 2003

Legged robots can avoid an obstacle by crawling-over or striding, according to the obstacle’s nature and the current state of the robot. Thus, it can be observed that the mobility efficiency to reach a destination is improved by such action. Moreover, if robots have many legs like 4-legged or 6-legged types, then the robot movement range is affected by the order of swing leg. In this paper, the avoidance action of a quadruped robot is generated by a neural network (NN) whose inputs are information on the position of the destination, the obstacle configuration and the robot's self-state. To realize a free gait in static walking, the order of swing leg is determined using an another NN whose inputs are the amount of movements and the robot’s self-state. The design parameter of the latter NN is adjusted by using genetic algorithm (GA).

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.2
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• pp.88-92
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• 2011

This paper looks at the development of the visual system of robots, and the development of image processing algorism to measure the size of an object and the distance from robot to an object for the visual system. Robots usually get the visual systems with a camera for measuring the size of an object and the distance to an object. The visual systems are accurately impossible the size and distance in case of that the locations of the systems is changed and the objects are not on the ground. Thus, in this paper, we developed robot's visual system to measure the size of an object and the distance to an object using two cameras and two-degree robot mechanism. And, we developed the image processing algorism to measure the size of an object and the distance from robot to an object for the visual system, and finally, carried out the characteristics test of the developed visual system. As a result, it is thought that the developed system could accurately measure the size of an object and the distance to an object.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.11
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• pp.1060-1067
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• 2010

In this paper, we present a new type of spherical robot having two arms. This robot, called KisBot, mechanically consists of three parts, a wheel-shaped body and two rotating semi-spheres. In side of each semi-sphere, there exists an arm which is designed based on slider-crank mechanism for space efficiency. KisBot has hybrid types of driving mode: rolling and wheeling. In the rolling mode, the robot folds its arms through inside of itself and uses them as pendulum, then the robot works like a pendulum-driven robot. In the wheeling mode, two arms are extended from inside of the robot and are contacted to the ground, then the robot works like a one-wheel car. The Robot arms can be used as a brake during rolling mode and add friction to the robot for climbing a slope during wheeling mode. We developed a remote controlled type robot for experiment. It contains two DC motors which are located in the center of each semi-sphere for main propulsion, two RC motors for each arm operation, speed controllers for each semi-sphere, batteries for main power source, and other mechanical components. Experiments for the rolling and wheeling mode verify the hybrid driving ability and efficiency of the our proposed spherical robot.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.375-378
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• 1996

Robot control software is a hard real-time system that must output the planned trajectory points within an explicit short time period. In this paper, we present a design and implementation method for robot control software using commercial real-time operating systems, RTKemel 4.5. Therefore, various robot motions, efficient user interface, and system failure check are easily implemented by using multitasking function, intertask communication mechanism, and real-time runtime libraries of RTKernel. The performance analysis of commercial real-time operating system for robot control is presented based on Timed Petri net(TPN) and we can use these results to design an optimal system.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.493-496
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• 1990

Recently, the robot control systems are required to be more flexible and intelligent in order to execute more complex and delicate tasks. As an approach to such system, a PC-based robot control system is presented in this paper. The axis controllers are independently designed for each joint of robot manipulator and are supervised by a personal computer. Therefore, the almost system program including the control algorithm can be easily developed and modified in the PC's environment. This proposed control system was successfully applied to 4 axis SCARA-type robot and the associated S/W modules were developed. We can construct sensory robot systems by simply connecting the sensing devices to the PC and the study on this now being progressed.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.3
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• pp.252-258
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• 1997

This paper presents neural networks for hybrid position/force control which is a type of position and force control for robot manipulators. The performance of conventional hybrid position/force control is excellent in the case of the exactly-known dynamic model of the robot, but degrades seriously as the uncertainty of the model increases. Hence, the neural network control scheme is presented here to overcome such shortcoming. The introduced neural term is designed to learn the uncertainty of the robot, and to control the robot through uncertainty compensation. Further more, the learning rule of the neural network is derived and is shown to be effective in the sense that it requires neither desired output of the network nor error back propagation through the plant. The proposed scheme is verified through the simulation of hybrid position/force control of a 6-dof robot manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1966-1971
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• 2005

Though several previous anti-windup techniques have been proposed, they are limited to linear systems or friction is not considered. Thus this paper proposes a compensation scheme for input-constrained robot systems with friction to cope with the windup phenomenon and shows its effectiveness by simulations. Given a feedback linearizing controller for a robot system designed without considering its input constraint, an additional dynamic compensator is proposed to account for the constraint. The dynamic anti-windup is based on the minimization of a reasonable performance index, and properties of the resulting closed-loop are presented.