• Title, Summary, Keyword: Iterative learning control

Search Result 154, Processing Time 0.07 seconds

Development of Piano Playing Robot (피아노 연주 로봇의 개발)

  • Park, Kwang-Hyun;Jung, Seong-Hoon;Pelczar, Christopher;Hoang, Thai V.;Bien, Zeung-Nam
    • Proceedings of the KIEE Conference
    • /
    • /
    • pp.334-336
    • /
    • 2007
  • This paper presents a beat gesture recognition method to synchronize the tempo of a robot playing a piano with the desired tempo of the user. To detect an unstructured beat gesture expressed by any part of a body, we apply an optical flow method, and obtain the trajectories of the center of gravity and normalized central moments of moving objects in images. The period of a beat gesture is estimated from the results of the fast Fourier transform. In addition, we also apply a motion control method by which robotic fingers are trained to follow a set of trajectories, Since the ability to track the trajectories influences the sound a piano generates, we adopt an iterative learning control method to reduce the tracking error.

  • PDF

A Study on Stable Motion Control of Humanoid Robot with 24 Joints Based on Voice Command

  • Lee, Woo-Song;Kim, Min-Seong;Bae, Ho-Young;Jung, Yang-Keun;Jung, Young-Hwa;Shin, Gi-Soo;Park, In-Man;Han, Sung-Hyun
    • Journal of the Korean Society of Industry Convergence
    • /
    • v.21 no.1
    • /
    • pp.17-27
    • /
    • 2018
  • We propose a new approach to control a biped robot motion based on iterative learning of voice command for the implementation of smart factory. The real-time processing of speech signal is very important for high-speed and precise automatic voice recognition technology. Recently, voice recognition is being used for intelligent robot control, artificial life, wireless communication and IoT application. In order to extract valuable information from the speech signal, make decisions on the process, and obtain results, the data needs to be manipulated and analyzed. Basic method used for extracting the features of the voice signal is to find the Mel frequency cepstral coefficients. Mel-frequency cepstral coefficients are the coefficients that collectively represent the short-term power spectrum of a sound, based on a linear cosine transform of a log power spectrum on a nonlinear mel scale of frequency. The reliability of voice command to control of the biped robot's motion is illustrated by computer simulation and experiment for biped walking robot with 24 joint.

Study on Vibration Suppression of 2-Mass Resonant System Using Iterative Learning Control (반복 학습 제어를 이용한 2관성 공진계의 진동 억제에 관한 연구)

  • 이학성
    • Proceedings of the IEEK Conference
    • /
    • /
    • pp.2585-2588
    • /
    • 2003
  • 2 관성 공진계는 마른 응답을 위해 제어이득을 크게 하면 공진에 의해 축비틀림 진동이 일어나는 경우가 많다. 본 논문에서는 반복 학습 제어기법을 활용하여 불확실한 모델 계수를 포함하는 2 관성 공진계의 진동억제를 시도한다. 2관성 공진계의 경우 제어 대상이 되는 부하측 속도는 학습 제어로 직접 적용하기가 힘들고 또한 측정 또한 어렵다. 본 논문에서는 부하측 속도와 전동기측 속도간의 관계를 이용하여 직접 부하측 속도를 제어하는 대신 전동기측 속도를 제어하여 간접적으로 부하측 속도를 제어하였다. 제안된 방식은 전형적인 2 관성 공진계에 모의 실험을 통해 적용되었고, 정확한 모델이 없이도 진동 없는 마른 응답특성을 보여준다.

  • PDF

Thrust and Mixtrue Control of Liquid Propellant Rocket Engine using Q-ILC (Q-ILC를 이용한 액체추진제로켓엔진의 추력 및 혼합비 제어)

  • Jung, Young-Suk;Lim, Seok-Hee;Cho, Kie-Joo;Oh, Seung-Hyub
    • Proceedings of the Korean Society of Propulsion Engineers Conference
    • /
    • /
    • pp.139-145
    • /
    • 2006
  • LRE(Liquid propellant Rocket Engine) is one of the important parts to control the trajectory and dynamics of rocket. The purpose of control of LRE is to control the thrust according to requiredthrust profile and control the mixture ratio of propellants fed into gas generator and combustor for constant mixture ratio. It is not easy to control thrust and mixture ratio of propellants since there are co-interferences among the components of LRE. In this study, the dynamic model of LRE was constructed and the dynamic characteristics were analyzed with control system as PID control and PID+Q-ILC(Iterative Learning Control with Quadratic Criterion) control. From the analysis, it could be observed that PID+Q-ILC control logic is more useful than standard PID control system for control of LRE.

  • PDF