• Title/Summary/Keyword: Robot Manipulator

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Robust adaptive controller design for robot manipulator (로보트 매니퓰레이터에 대한 강건한 적응제어기 설계)

  • 안수관;배준경;박종국;박세승
    • 제어로봇시스템학회:학술대회논문집
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    • 1989.10a
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    • pp.177-182
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    • 1989
  • In this paper a new adaptive control algorithm is derived, with the unknown manipulator and payload parameters being estimated online. In practice, we may simplify the algorithm by not explicity estimating all unknown parameters. Further, the controller must be robust to residual time-varying disturbance, such as striction or torque ripple. Also, the reference model is a simple douple integrator and the acceleration input for robot manipulator consists of a proportion and derivative controller for trajectory tracking purposes. The validity of this control is confirmed in simulation where two-link robot manipulator shows the robust performances in spite of the existing nonlinear interaction and unknown parametrictings

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Adaptive Pole-Placement and Self-Tuning Control for a Robotic Manipulator (적응 극점 배치 및 자기동조 제어 방법에 의한 로보트 매니퓰레이터 제어)

  • 이상효;양태규
    • The Transactions of the Korean Institute of Electrical Engineers
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    • v.37 no.9
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    • pp.655-662
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    • 1988
  • An adaptive control scheme has been recognized as an effective approach for a robot manipulator to track a deired trajectory in spite of the presence of nonlinearies and parameter uncertainties in robot dynamic models. In this paper, an adaptive control scheme for a robot manipulator is proposed to design the self-tuning controller which controls the extended linearized perturbaton model via the pole placement, and this control. The feasibility of the controller is demonstrated by the simulation about position control of a three-link manipulator with payload and parameter uncertainty.

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A Study on Position and Force Control of A Robot Manipulator with Artificial Rubber Muscle (고무인공근 로보트 매니퓨레이터의 위치 및 힘 제어에 관한 연구)

  • Jin, Sang-Ho;Watanabe, Keigo;Lee, Suck-Gyu
    • Journal of the Korean Society for Precision Engineering
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    • v.12 no.1
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    • pp.97-103
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    • 1995
  • This paper describes position and force hybrid control for a robot manipulator with artificial rubber muscle actuators. The controller using two control laws such as PID control and fuzzy logic control methods is designed. This paper concludes to show the effectiveness of the proposed controller by some experiments for a two-link manipulator.

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A Stduy on the Performance Inprovement of Industrial Robot Manipulator Controller (산업용 로보트매니플레이터 제어기의 성능향상에 관한 연구)

  • Han, Sung-Hyun;Lee, Man-Hyung
    • Journal of the Korean Society for Precision Engineering
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    • v.7 no.4
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    • pp.85-102
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    • 1990
  • Up to now, most robot control systems are very naive. They consist of a number of independent position-servo loops to control each joint angle separately. Those control systems have constant predefined gains and do not cover the complex dynamic interactions between manipulator joints. As a result, the manipulator is severely limited in range of application, speed of operation and variation of payload. This study proposed a new method to design a robot manipulator controller capable of tracking the reference trajectories of joint angles in a reasonable accuracy to cope with actual situations of varying payload, uncertain parameters. The adaptive model following control method has been used to improve existing robot manipulator controllers. The proposed controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories defined by the designer. The stability of adaptive controller is based on the Second Method of Lyapunov. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance under various load varia- tion and parameter uncertainties.

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Vision-Based Robot Manipulator for Grasping Objects (물체 잡기를 위한 비전 기반의 로봇 메뉴플레이터)

  • Baek, Young-Min;Ahn, Ho-Seok;Choi, Jin-Young
    • Proceedings of the KIEE Conference
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    • 2007.04a
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    • pp.331-333
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    • 2007
  • Robot manipulator is one of the important features in service robot area. Until now, there has been a lot of research on robot" manipulator that can imitate the functions of a human being by recognizing and grasping objects. In this paper, we present a robot arm based on the object recognition vision system. We have implemented closed-loop control that use the feedback from visual information, and used a sonar sensor to improve the accuracy. We have placed the web-camera on the top of the hand to recognize objects. We also present some vision-based manipulation issues and our system features.

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Development of Revolute joint Robot Manipulator with closed-chain structure (폐체인 구조의 다관절 로봇 매니플레이터의 개발)

  • 오정민;백창열;최형식;김명훈
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2002.10a
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    • pp.540-543
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    • 2002
  • Conventional robot manipulators actuated by motors with the speed reducer such as the harmonic drive have weakness in the load capacity, since the speed reducer does not have enough strength. To overcome this, we proposed and constructed a new type of the robot actuator which is four-bar-link mechanism driven by the ball screw. We developed a new type of a revolute-jointed robot manipulator composed of four axes. The base axis is actuated with conventional speed reducer, but the others are actuated by the proposed actuators. We analyzed the mechanism of the actuators of the robot joints, and developed the dynamics model. The dynamics are expressed in the joint coordinates, and then they are mapped into the sliding coordinates of the ball screw. The structure specifications of the manipulator shown.

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FPGA-based ARX-Laguerre PIO fault diagnosis in robot manipulator

  • Piltan, Farzin;Kim, Jong-Myon
    • Advances in robotics research
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    • v.2 no.1
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    • pp.99-112
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    • 2018
  • The main contribution of this work is the design of a field programmable gate array (FPGA) based ARX-Laguerre proportional-integral observation (PIO) system for fault detection and identification (FDI) in a multi-input, multi-output (MIMO) nonlinear uncertain dynamical robot manipulators. An ARX-Laguerre method was used in this study to dynamic modeling the robot manipulator in the presence of uncertainty and disturbance. To address the challenges of robustness, fault detection, isolation, and estimation the proposed FPGA-based PI observer was applied to the ARX-Laguerre robot model. The effectiveness and accuracy of FPGA based ARX-Laguerre PIO was tested by first three degrees of the freedom PUMA robot manipulator, yielding 6.3%, 10.73%, and 4.23%, average performance improvement for three types of faults (e.g., actuator fault, sensor faults, and composite fault), respectively.

Integrated Task Planning based on Mobility of Mobile Manipulator (M2) Platform

  • Jin, Tae-Seok;Kim, Hyun-Sik;Kim, Jong-Wook
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.9 no.3
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    • pp.206-212
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    • 2009
  • This paper presents an optimized integrated task planning and control approach for manipulating a nonholonomic robot by mobile manipulators. Then, we derive a kinematics model and a mobility of the mobile manipulator(M2) platform considering it as the combined system of the manipulator and the mobile robot. to improve task execution efficiency utilizing the redundancy, optimal trajectory of the mobile manipulator(M2) platform are maintained while it is moving to a new task point. A cost function for optimality can be defined as a combination of the square errors of the desired and actual configurations of the mobile robot and of the task robot. In the combination of the two square errors, a newly defined mobility of a mobile robot is utilized as a weighting index. With the aid of the gradient method, the cost function is minimized, so the path trajectory that the M2 platform generates is optimized. The simulation results of the 2 ink planar nonholonomic M2 platform are given to show the effectiveness of the proposed algorithm.

A study on simulation and performance improvement of industrial robot manipulator controller using adaptive model following control method (적응모델추종제어기법에 의한 산업용 로봇 매니퓰레이터 제어기의 성능개선 및 시뮬레이션에 관한 연구)

  • 허남수;한성현;이만형
    • Transactions of the Korean Society of Mechanical Engineers
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    • v.15 no.2
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    • pp.463-477
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    • 1991
  • This study proposed a new method to design a robot manipulator control system capable of tracking the trajectories of joint angles in a reasonable accuracy to cover with actual situation of varying payload, uncertain parameters, and time delay. The direct adaptive model following control method has been used to improve existing industrial robot manipulator control system design. The proposed robot manipulator controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories predefined by the designer. The manipulator control system studied has two loops: they are an inner loop on adaptive model following controller to compensate nonlinearity in the manipulator dynamic equation and to decouple the coupling terms and an outer loop of state feedback controller with integral action to guarantee the stability of the adaptive scheme. This adaptation algorithm is based on the hyperstability approach with an improved Lyapunov function. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance in various cases, load variation, parameter uncertainties. and time delay. Since the proposed adaptive control method requires only a small number of parameters to be estimated, the controller has a relatively simple structure compared to the other adaptive manipulator controllers. Therefore, the method used is expected to be well suited for a high performance robot controller under practical operation environments.

Adaptive Control of Robot Manipulator using Neuvo-Fuzzy Controller

  • Park, Se-Jun;Yang, Seung-Hyuk;Yang, Tae-Kyu
    • 제어로봇시스템학회:학술대회논문집
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    • 2001.10a
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    • pp.161.4-161
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    • 2001
  • This paper presents adaptive control of robot manipulator using neuro-fuzzy controller Fuzzy logic is control incorrect system without correct mathematical modeling. And, neural network has learning ability, error interpolation ability of information distributed data processing, robustness for distortion and adaptive ability. To reduce the number of fuzzy rules of the FLS(fuzzy logic system), we consider the properties of robot dynamic. In fuzzy logic, speciality and optimization of rule-base creation using learning ability of neural network. This paper presents control of robot manipulator using neuro-fuzzy controller. In proposed controller, fuzzy input is trajectory following error and trajectory following error differential ...

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