• Title, Summary, Keyword: Robot Controller

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Design of Controller and Gripper for Wireless Communication of Gripper Contact Signal (그리퍼 접촉신호의 무선통신을 위한 제어장치 및 그리퍼 설계)

  • Kim, Hyeon Min;Kim, Chong Jin;Kim, Gab Soon
    • Journal of the Korean Society for Precision Engineering
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    • v.31 no.9
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    • pp.821-829
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    • 2014
  • This paper describes the development of a wireless communication controller of gripper contact signal for industrial robot. The wireless communication gripper controller is composed of a robot wireless communication controller and a gripper wireless transmitting/receiving controller. The robot wireless communication controller transmits the data of gripper sensors, and the gripper wireless communication controller receives the data. And the controller sends the data to the robot controller of industrial robot. As a result of the characteristics test of the wireless communication gripper controller, it is thought that the robot wireless communication controller A transmits and receives three gripper wireless transmitting/receiving controller A1, A2, A3 another. Thus, the developed wireless communication gripper controller can be used for transmitting/ receiving the data of gripper sensors for industrial robot.

Tracking Control for Mobile Robot Based on Fuzzy Systems (퍼지 시스템을 이용한 이동로봇의 궤적제어)

  • 박재훼;이만형
    • Journal of Institute of Control, Robotics and Systems
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    • v.9 no.6
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    • pp.466-472
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    • 2003
  • This paper describes a tracking control for the mobile robot based on fuzzy systems. Since the mobile robot has the nonholonomic constraints, these constraints should be considered to design a tracking controller for the mobile robot. One of the well-known tracking controllers for the mobile robot is the back-stepping controller. The conventional back-stepping controller includes the dynamics and kinematics of the mobile robot. The conventional back-stepping controller is affected by the derived velocity reference by a kinematic controller. To improve the performance of the conventional back-stepping controller, this paper uses the fuzzy systems known as the nonlinear controller. The new velocity reference for the back-stepping controller is derived through the fuzzy inference. Fuzzy rules are selected for gains of the kinematic controller. The produced velocity reference has properly considered the varying reference trajectories. Simulation results show that the proposed controller is more robust than the conventional back-stepping controller.

2-Layer Fuzzy Controller for Behavior Control of Mobile Robot (이동로봇의 행동제어를 위한 2-Layer Fuzzy Controller)

  • Sim, Kwee-Bo;Byun, Kwang-Sub;Park, Chang-Hyun
    • Journal of Korean Institute of Intelligent Systems
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    • v.13 no.3
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    • pp.287-292
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    • 2003
  • The ability of robot is being various and complex. The robot is utilizing distance, image data and voice data for sensing its circumstance. This paper suggests the 2-layer fuzzy control as the algorithm that control robot with various sensor information. In a obstacle avoidance, it utilizes many range finders and classifies them into 3parts(front, left, right). In 3 sub-controllers, the controller executes fuzzy conference. And then it executes combined control with a combination of outputs of 3 sub-controllers in the second step. The text compares the 2-layer fuzzy controller with the hierarchical fuzzy controller that has analogous structure. And the performance of the 2-layer fuzzy controller is confirmed by application this controller to robot following, simulation to each other and real experiment.

Implementation of SOPC-based Reconfigurable Robot Controller (SOPC 기반의 재구성 가능한 로봇제어기 구현)

  • 최영준;박재현;최기홍
    • Journal of Institute of Control, Robotics and Systems
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    • v.10 no.3
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    • pp.261-266
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    • 2004
  • Recently, a variety of intelligent robots are developed for the personal purpose beyond the industrial application. These intelligent robots have ranges of sensors, actuators, and control algorithms to their application. In this paper we propose a reconfigurable robot controller, $SR^2$c (The SOPC-based Reconfigurable Robot Controller), based on SOPC (System on a Programmable Chip), that can be reconfigurable easily by software. The proposed robot controller contains not only a processing module but also robot-specific IP's. To show a feasibility of the proposed robot controller, a small entertainment robot, Wizard-4 is implemented with a single chip controller as proposed in this paper.

Leader Robot Controller Considering Follower with Input Constraint (입력 제한을 가진 추종 로봇을 고려한 선도 로봇 제어기)

  • Lee, Seung-Joo;Hong, Suk-Kyo
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.61 no.7
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    • pp.1032-1040
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    • 2012
  • This paper proposes controller of leader robot considering following robot with input constraints based on leader-following approach. In the previous formation control researches, it was assumed that leader and follower is same object. If leader robot drives as maximum speed that the initial position errors still remain even if following robot have same velocity as a leader. In the situation that velocity of following robot is lower than its leader robot, following robot cannot follow leader robot. Furthermore, the following robot will not be able to made formation with leader robot and keep proximity communication or sensing range. Therefore, multiple mobile robot system using leader-following method should be guaranteed range to get information each other. In this paper, Leader robot is driving to goal position using linear controller and following robot is following trajectory to be made from leader robot. We assume that following robot has input constraints to realize different performance between leader robot and following robot. We design controller of leader robot for desired goal position including the errors between formation and following robot. Thus, we propose leader robot controller considering input constraints of following robot. Finally, we were able to confirm the validity of the proposed method based on simulation results.

Obstacle Avoidance and Playing Soccer in a Quadruped Walking Robot (4족 보행 로봇의 장애물 회피와 축구하기)

  • Seo, Hyeon-Se;Sung, Young Whee
    • IEMEK Journal of Embedded Systems and Applications
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    • v.7 no.3
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    • pp.143-150
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    • 2012
  • In this paper, we introduce an intelligent quadruped walking robot that can perform stable walking and a couple of intelligent behaviors. The developed robot has two sets of ultrasonic sensors and six sets of infrared sensors and can perform obstacle avoidance by detecting obstacles and estimating the distances and directions of those obstacles. The robot also has a stereo camera and can paly soccer by detecting a ball and estimating the 3 dimensional coordinates of the ball. In performing those intelligent behaviors, the robot needs to have the capability of generating its walking patterns, solving the inverse kinematics problem, and interfacing several sensors in realtime. Therefore we designed a hierarchical controller that consists of a main controller and an auxiliary controller. The main controller is a 32-bit DSP that can perform fast floating-point opertaion and the auxiliary one is a 8-bit micro-controller. We showed that the developed quadruped walking robot successfully perform those intelligent behaviors through experiments.

Implementation of the Controller for a Stable Walking of a Humanoid Robot Using Improved Genetic Algorithm (개선된 유전 알고리즘 기반의 휴머노이드 로봇의 안정 보행을 위한 제어기 구현)

  • Kong, Jung-Shik;Lee, Eung-Hyuk;Kim, Jin-Geol
    • Journal of Institute of Control, Robotics and Systems
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    • v.13 no.5
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    • pp.399-405
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    • 2007
  • This paper deals with the controller for a stable walking of a humanoid robot using genetic algorithm. A humanoid robot has instability during walking because it isn't fixed on the ground, and its nonlinearities of the joints increase its instability. If controller isn't robust, the robot may fall down at the ground during walking because of its nonlinearities. To solve this problem, robust controller is required to reduce the effect of nonlinearities and to gain the good tracking performance. In this paper, motion controller that is based on fuzzy-sliding mode controller is proposed. This controller can remove the effect of the saturation by limitation of the input voltage. It also includes compensator for reducing the effect of the nonlinearity by backlash and PI controller improving the tracking performance. In here, genetic algorithm is used for searching the optimal gains of the controller. From the given controller, a humanoid robot can moved more preciously. All the processes are investigated through simulations and are verified experimentally in a real joint system for a humanoid robot.

The Intelligent Controller for Biped Robot Using Neural Network (이족로봇용 신경망 지능 제어기)

  • 김성주;김용택;고재양;서재용;전홍태
    • Proceedings of the IEEK Conference
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    • pp.2573-2576
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    • 2003
  • This paper proposes the controller for biped robot using intelligent control algorithm. The main purpose of this paper is to design the robot controller using Hierarchical Mixture of Experts(HME). The neural network direct control method will be applied to the control scheme for the biped robot and neural network will learn the dynamics of biped robot. The teaming scheme using a intelligent controller to biped robot is developed. The teaming scheme uses a HME controller combined with a inverse biped robot model. The controller provides the control signals at each control time instant. Simulation results are reported for a seven-link biped robot.

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Arc welding robot controller (아크 용접 로보트 제어기)

  • 김성권;김동일;황찬영;윤명균
    • 제어로봇시스템학회:학술대회논문집
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    • pp.270-275
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    • 1993
  • In this paper, the arc welding robot controller using a touch sensor and a arc sensor is presented. The controller is composed of robot controller parts for moving torch, and arc welding controller for welding and tracking. In the controller, an compensated data is generated to control robot trajectory and seam tracking by the arc sensor function. The data is obtained by integration of arc current. Experimental results are presented confirming the controller performance.

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Vision Based Mobile Robot Control (이동 로봇의 비젼 기반 제어)

  • Kim, Jin-Hwan
    • The Transactions of the Korean Institute of Electrical Engineers P
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    • v.60 no.2
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    • pp.63-67
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    • 2011
  • This paper presents the mobile robot control based on vision system. The proposed vision based controller consist of the camera tracking controller and the formation controller. Th e camera controller has the adaptive gain based on IBVS. The formation controller which is designed in the sense of the Lyapunov stability follows the leader. Simluation results show that the proposed vision based mobile robot control is validated for indoor mobile robot applications.