• International Journal of Fuzzy Logic and Intelligent Systems
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• v.11 no.1
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• pp.49-53
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• 2011

Path following of the mobile robot is one research hot for the mobile robot navigation. For the control system of the wheeled mobile robot(WMR) being in nonhonolomic system and the complex relations among the control parameters, it is difficult to solve the problem based on traditional mathematics model. In this paper, we presents a simple and effective way of implementing an adaptive following controller based on the PID for mobile robot path following. The method uses a non-linear model of mobile robot kinematics and thus allows an accurate prediction of the future trajectories. The proposed controller has a parallel structure that consists of PID controller with a fixed gain. The control law is constructed on the basis of Lyapunov stability theory. Computer simulation for a differentially driven nonholonomic mobile robot is carried out in the velocity and orientation tracking control of the nonholonomic WMR. The simulation results of wheel type mobile robot platform are given to show the effectiveness of the proposed algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.12
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• pp.977-983
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• 2005

In this paper, novel ubiquitous concept of real reality robot game controlled by a mobile server robot is proposed. Real reality robot game means that two real robots controlled by humans/computers through the internet are playing a boxing game. The mobile server robot captures playing images of the boxing game and sends them to GUI on the screen of human operators' PC. The human operator can login to the boxing game from any computer in any place if he/she is permitted. Remote control of a boxing robot by a motion capture system through network is implemented. Successful motion control of a boxing robot remotely controlled by a motion capture system through network can be achieved. In addition, real boxing games between a human and a computer are demonstrated.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2001.12a
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• pp.267-270
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• 2001

In this paper, we propose the self-autonomous algorithm for mobile robot system. The proposed mobile robot system which is teamed by learning with the neural networks can trace the target at the same distances. The mobile robot can evaluate the distance between robot and target with ultrasonic sensors. By teaming the setup distance, current distance and command velocity, the robot can do intelligent self-autonomous drive. We use the neural network and back-propagation algorithm as a tool of learning. As a result, we confirm the ability of tracing the target with proposed mobile robot.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.2
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• pp.102-107
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• 2011

In this paper we present cooperation of heterogeneous robot team, composed of a wheeled robot and a helicopter for localization and map building. This heterogeneous robot team can successfully fulfill task by combining the abilities of both robots than single robot because wheeled robot and helicopter have complementing ability. The scenario describes a tightly cooperative task, where the wheeled robot move carrying the helicopter and detect obstacles, if there are obstacles, helicopter take off for map building and land, then robot team move destination avoiding obstacles. We present PID controller for position control of helicopter and transformation algorithm to global coordinate from image pixel coordinate. Experimental result show that the proposed method is valid.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.9
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• pp.908-915
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• 2011

As the requirement of user for robot functionality, the function and interface for controlling the robot system is more sophisticated and complicated. Accordingly development process of robot is more complicated and it takes much longer time to develop a robot system. Software development using project management tool is more important in software engineering because of the complexity of software, especially robot system. This paper proposes SEED (Software Engineering Equipment for Development), which is a web-based and integrated software engineering tool to provide independent tools for robot software development. SEED includes the document management tool, the software configuration management tool, the software testing tool on developing robot software and provide a functionality of collaborated and remote development due to WEB-based operations.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.7
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• pp.592-598
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• 2013

In this paper, a small, lightweight smartphone-controlled riding robot is developed. Also, in this study, a smartphone with a jog shuttle mode for consideration of user convenience is proposed to make a small, lightweight riding robot. As well, a compass sensor is used to compensate for the mechanical characteristics of motors mounted on the riding robot. The riding robot is controlled by the interface of a drag-based jog shuttle in the smartphone, instead of a mechanical controller. For a personal riding robot, if the smartphone is used as a controller instead of a handle or a pole, it reduces its size, weight, and cost to a great extent. Thus, the riding robot can be used in indoor spaces such as offices for moving or a train or bus station and an airport for scouting, or hospital for disabilities. Experimental results show that the riding robot is easily and conveniently controlled by the proposed smartphone interface based on Android.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.236-241
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• 2001

Teach pendant is the most widely used means of robot teaching at present. Despite the difficulties of using the motion command buttons on the teach pendant, it is an economical, robust, and effective device for robot teaching task. This paper presents the development of a force/moment direction sensor named COSMO that can improve the teach pendant based robot teaching. Robot teaching experiment of a six axis commercial robot using the sensor is described where operator holds the sensor with a hand, and move the robot by pushing, pulling, and twisting the sensor in the direction of the desired motion. No prior knowledge of the coordinate system is required. The function of the COSMO sensor is to detect the presence f force and moment along the principal axes of the sensor coordinate system. The transducer used in the sensor is micro-switch, and this intuitive robot teaching can be implemented at a very low cost.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.4
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• pp.312-316
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• 2004

In this paper, it is presented an adaptive robust control system to implement real-time control of a robot manipulator. There are Quantitative or qualitative differences between a real robot manipulator and a robot modeling. In order to compensate these differences, uncertain factors are added to a robot modeling. The uncertain factors come from imperfect knowledge of system parameters, payload change, friction, external disturbance, etc. Also, uncertainty is often nonlinear and time-varying. In the proceeding work, we proposed a class of robust control of a robot manipulator and provided the stability analysis. In the work, we propose a class of adaptive robust control of robot manipulator with bound estimation. Through experiments, the proposed adaptive robust control scheme is proved to be an efficient control technique for real-time control of a robot system using DSP.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.973-980
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• 1988

This two-part paper presents a control method that allows for stable interaction of a robot manipulator with the environment. In part 1, we focus on the input ouput relationships (unstructured modeling) of the robot and environment dynamics. This analysis leads to a general condition for stability of the robot and environment taken as a whole. This stability condition, for stable maneuver, prescribes a finite sensitivity for robot and environment where sensitivity of the robot(or the environment) is defined as a mapping forces into displacement. According to this stability condition, smaller sensitivity either in robot or in environment leads to narrower stability range. In the limit, when both systems have zero sensitivity, stability cannot be guaranteed. These models do not have any particular structure, yet they can model a wide variety of industrial and research robot manipulators and environment dynamic behavior. Although this approach of modeling may not lead to any design procedure, it will allow us to understand the fundamental issues in stability when a robot interacts with an environment.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.413-420
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• 2015

This paper describes the design of an elbow rehabilitation robot based on force measurement that enables a severe stroke patient confined to their bed to receive elbow rehabilitation exercises. The developed elbow rehabilitation robot was providewitha two-axis force/torque sensor which can detect force Fz and torque Tz, thereby allowing it to measure therotational force (Tz) exerted on the elbow and the signal force Fz which can be used as a safety device. The robot was designed and manufactured for severe stroke patients confined to bed, and the robot program was manufactured to perform flexibility elbow rehabilitation exercises. Asa result of the characteristics test of the developed rehabilitation robot, the device was safely operated while the elbow rehabilitation exercises were performed. Therefore, it is thought that the developed rehabilitation robot can be used for severe stroke patients.