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권상주(SangJoo Kwon),오용환(Yonghwan Oh) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.9
In this paper, a closed-loop observer to extract the center of mass (CoM) of a bipedal robot is suggested. Comparing with the simple conversion method of just using joint angle measurements, it enables to get more reliable estimates by fusing both joint angle measurements and F/T sensor outputs at ankle joints. First, a nonlinear-type observer is constructed to estimate the flexible rotational motion of the biped in the extended Kalman filter framework. It adopts the flexible inverted pendulum model which is appropriate to address the flexible motion of bipeds, specifically in the single support phase. The predicted estimates of CoM in terms of the flexible motion observer are combined with measurements (that is, output of the CoM conversion equation with joint angles). Then, we have final CoM estimates depending on the weighting values which penalize the flexible motion model and the CoM conversion equation. Simulation results show the effectiveness of the proposed algorithm.
권상주(SangJoo Kwon),박찬식(Chansik Park),이상무(Sang Moo Lee) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.4
The kinematics and control problem of a visual alignment system is investigated, which plays a crucial role in the fabrication process of flat panel displays. The first solution is the inverse kinematics of a 4PPR parallel alignment mechanism. It determines the driving distance of each joint to compensate the misalignment between mask and panel. Second, an efficient vision algorithm for fast alignment mark recognition is suggested, where by extracting essential feature points to represent the geometry of a mark, the geometric template matching enables much faster object recognition comparing with the general template matching. Finally, the overall visual alignment process including the kinematic solution, vision algorithm, and joint control is implemented and experimental results are given.
여유 구동 병렬기구를 이용한 마스크-패널 얼라인 로봇 시스템
정해민(Haemin Jeong),권상주(SangJoo Kwon),이상무(Sang Moo Lee) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.9
In this paper, a mask-panel alignment robot system is considered for IT industry applications. Two kinds of solutions are suggested which are required in constructing a control system for the alignment robot with actuation redundancy. First, the kinematic solution for the 4PPR parallel positioning mechanism is formulated for an arbitrary initial posture, which relates the mask-panel misalignment in the task space and the desired actuator displacements in the joint space. Secondly, in order to increase the stiffness of the control motion and also to avoid the mechanical lock which may happen due to the redundant actuation, a new synchronous control method is proposed which has the merit of coordinating joint control motions while not losing individual joint control performance. In addition, the engineering process to develop a visual alignment robot system is described with the results of experimental setup and GUT software. Finally, the experimental results demonstrate the effectiveness of the proposed alignment system control methodology and how much beneficial it will be in real industrial applications.
박진희(Jinhee Park),권상주(SangJoo Kwon) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.7
The study of bipedal robot is towards similar shape and function with human. In this paper, we propose a human-like walking pattern compatible to the flexible foot with toe and heel structure. The new walking pattern for a bipedal robot consists of ZMP, center of mass (CoM), and ankle trajectory and is drawn by considering human kinesiology. First, the ZMP trajectory moves forward without stopping at a point even in the single support phase. The corresponding CoM trajectory to the ZMP one is derived by solving differential equations. As well, a CoM trajectory for the vertical axis is added by following the idea of human motion. The ankle trajectory closely mimics the rotational motion of human ankles during taking off and landing on the ground. The advantages of the proposed walking pattern are demonstrated by showing improved stability, decreased ankle torque, and the longer step length capability. Specifically, it is interesting to know that the vertical CoM motion is able to compensate for the initial transient response.
SDRE 기법을 이용한 이륜 밸런싱 로봇의 비선형 최적제어
김상태(Sangtae Kim),권상주(SangJoo Kwon) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.10
Two-wheeled balancing mobile robots are currently controlled in terms of linear control methods without considering the nonlinear dynamical characteristics. However, in the high maneuvering situations such as fast turn and abrupt start and stop, such neglected terms become dominant and greatly influence the overall driving performance. This paper addresses the SDRE nonlinear optimal control method to take advantage of the exact nonlinear dynamics of the balancing robot. Simulation results indicate that the SDRE control outperforms LQR in the respect of transient performance and required wheel torques. A design example is suggested for the state matrix that provides design flexibility in the SDRE control. It is shown that a well-planned state matrix by reflecting the physics of a balancing robot greatly contributes to the driving performance and stability.
이륜 역진자 로봇의 제어 시스템 개발을 위한 설계 고려사항
김상태(Sangtae Kim),권상주(SangJoo Kwon) 제어로봇시스템학회 2017 제어·로봇·시스템학회 논문지 Vol.23 No.1
This paper addresses some practical design considerations to build a two-wheeled inverted pendulum (TWIP) robot control system. The first issue is to identify the relationship between the primary parameters of the TWIP robot and the guaranteed stability of the time-delayed control loop. Secondly, the required data update rate and the required sensor/actuator performance are suggested for implementing a real-time digital control system. The final issue is concerned with improving the driving performance by investigating the reliability of the inertial sensor for attitude control and the backlash problem in the transmission mechanism.
안상익(Sang-ik Ahn),오용환(Yonghwan Oh),권상주(SangJoo Kwon) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.1
A specialized anthropomorphic robot hand which can be attached to the biped humanoid robot MAHRU-R in KIST, has been developed. This built-in type hand consists of three fingers and a thumb with total four DOF(Degrees of Freedom) where the finger mechanism is well designed for grasping typical objects stably in human"s daily activities such as sphere and cylinder shaped objects. The restriction of possible motions and the limitation of grasping objects arising from the reduction of DOF can be overcome by reflecting a typical human finger"s motion profile to the design procedure. As a result, the developed hand can imitate not only human hand"s shape but also its motion in a compact and efficient manner. Also this novel robot hand can perform various human hand gestures naturally and grasp normal objects with both power and precision grasping capability.
이륜 밸런싱 로봇에 대한 비선형 모델 기반 외란보상 기법
유재림(Jaerim Yu),김용국(Yongkuk Kim),권상주(SangJoo Kwon) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.10
A two-wheeled balancing mobile robot (TWBMR) has the characteristics of both nonlinear and underactuated system. In this paper, the disturbances acting on a TWBMR are classified into body disturbance and wheel disturbance. Additionally, we describe a nonlinear disturbance observer, which is suitable as a single input multi-output (SIMO) system for the longitudinal motion of TWBMR. Finally, we propose a reasonable disturbance compensation technique that combines the indirect reference input of equilibrium point and the direct torque compensation input. Simulations and experimental results show that the proposed disturbance compensation method is an effective way to achieve robust postural stability, specifically on inclined terrains.
횡방향 틸팅 기능을 갖는 이륜 밸런싱 모바일 플랫폼 설계
김상태(Sangtae Kim),서정민(Jeongmin Seo),권상주(SangJoo Kwon) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.1
Conventional two-wheeled balancing robots are limited in terms of turning speed because they lack the lateral motion to compensate for the centrifugal force needed to stop rollover. In order to improve lateral stability, this paper suggests a two-wheeled balancing mobile platform equipped with a tilting mechanism to generate roll motions. In terms of static force analysis, it is shown that the two-body sliding type tilting method is more suitable for small-size mobile robots than the single-body type. For the mathematical modeling, the tilting-balancing platform is assumed as a 3D inverted pendulum and the four-degrees-of-freedom equation of motion is derived. In the velocity/posture control loop, the desired tilting angle is naturally determined according to the changes of forward velocity and steering yaw rate. The efficiency of the developed tilting type balancing mobile platform is validated through experimental results.