조인트 영역에서 로보트 매니퓰레이터의 적응제어기 설계

배준경,박종국 慶熙大學校 大學院 1989 高凰論集 Vol.5 No.-

To eliminate the steady-state position error, a new adaptive robot control algorithm is derived using the sliding surface. The adaptive controller is globally stable and there is no need to measure the joint accelerations or to invert the estimated inertia matrix. This controller consists of a PD feedback part and a full dynamics feedforward compensation part, with the unknown manipulator and payload parameter being estimated online. A simple two degree of freedom manipulator was simulated to test the adaptive algorithm.

조인트영역에서 로보트 매니퓰레이터의 강건한 적응 슬라이딩 모드 제어기설계에 관한 연구

배준경 진주산업대학교 1997 산업과학기술연구소보 Vol.- No.4

본 논문은 로보트 매니퓰레이터의 정확한 궤적추적을 가능하게 하는 강건한 적응 슬라이딩 모드 제어기를 제안하였는데, 제안한 제어기는 액츄레이터 또는 다른 원인으로 부터 발생되는 외란과 매개변수 불확실성에 대하여 안정하고 강건하였다. 알고리즘을 간소화 시키기 위하여 미지의 미개변수를 실시간 추정이 필요한 매개변수 집단과 실시간 추정이 필요없는 매개변수 집단으로 분류하였여, 실시간으로 추정된 매개변수를 포함하는 집단을 슬라이딩 모드 제어와 결합시킴으로서, 매니퓰레이터 전체 제어어 대하여 제시된 적응 슬라이딩 제어 기법과 방법이 효과적으로 간소화 및 향상되었으며, 로보트 매니플레이터의 구조적 특성을 이용함으로서 알고리즘 계산이 간단하다. 빠른 추적 수렴성과 외부 외란에 대한 강건성이 컴퓨터 모의실험을 통해 확인되었다. A robust adaptive sliding mode controller that achieves for accurate trajectory traking of robot manipulators is presented in this pater. It is stable and robust with respect to the parameter uncertainty and the disturbances arising from the actuator or some other causes. The unknown parameters to make the algorithm simple is cstegorized into two groups, with group containing the parameters estimated on-line and group containing the parameters not estimated on-line By coupling group containing the paramenters estimated on-line to sliding mode control, the present adaptive sliding mode control scheme and the approach to the overall control of mainpulators are very simplified, and tracking performance is effectively improved. Making use of the structural properties of the robot manipulators. the algorithm is computationally simple The fast tracking convergence and the robustness to extermal disturbances are confirmed by computer simulations

Zermelo의 항해문제를 위한 신경회로망 최적 제어

배준경,박진현 한국기계기술학회 2015 한국기계기술학회지 Vol.17 No.4

Zermelo's navigation problem is that the ship reaches a particular target point in the minimum-time when it travels with a constant speed in a region of strong currents and its heading angle is the control variable. Its approximate solution for the minimum-time control may be found using the calculus of variation. However, the accuracy of its approximate solution is low since the solution is based on graph or table form from a complicated nonlinear equations. To improve the accuracy, we use a neural network. Through the computer simulation study we have found that the proposed method is superior to the conventional ones.

On the Robust Adaptive Sliding Mode Control of Robot Manipulators

배준경,Bae, Jun-Kyung The Institute of Electronics and Information Engin 2001 電子工學會論文誌-SC (System and control) Vol.38 No.6

피드-포워드 보상부분과 불연속 제어 부분으로 구성되는 강건한 적응 슬라이딩 모드 로봇제어 알고리즘을 유도하였다. 미지의 매개변수는 실시간으로 추정되는 매개변수를 포함하는 그룹과 실시간으로 추정하지 않는 매개변수를 포함하는 그룹으로 나누어진다. 그런 다음 외란 및 실시간으로 추정하지 않는 매개변수에서의 불확실성 효과를 보상하기 위해 슬라이딩 제어 항이 토크 입력에 포함된다. 또한 매니퓨레이터 동역학 구조의 효율적인 이용으로 인하여 알고리즘은 계산이 간단하다. 매개변수 불확실성과 외부 외란의 존재에도 불구하고 제어기는 대국적 점근적으로 안정하며 추적오차가 영에 수렴함을 보여준다. A robust adaptive sliding mode robot control algorithm is derived, which consists of a feed-forward compensation part and discontinuous control part. The unknown parameters is categorized into two groups, with group containing the parameters estimated on-line, and group containing the parameters not estimated on-line. Then a sliding control term is incorporated into the torque input in order to account for the effects of uncertainties on the parameters not estimated on-line and of disturbances. Moreover, the algorithm is computationally simple, due to an effective exploitation of the structure of manipulator dynamics. It is shown that, despite the existence of the parameter uncertainty and external disturbances, the controller is globally asymptotically stable and guarantees zero tracking errors.

속도측정에 필요 없는 로보트 매니퓨레이터의 계산된 토크 적응제어기 설계

배준경 진주산업대학교 2001 산업과학기술연구소보 Vol.- No.8

This paper proposes for an adaptive controller of robot manipulators based on the computed torque method. The velocity measurement is often contaminated by noise in the case of tachometer measurement and can consequently degrade the dynamics performance. To overcome this problem observers have been utilized. Therefore the proposed algorithm does not require velocity measurement and tracking errors are uniformly bounded. The validity of proposed scheme has been examined by using Lyapunov method. The adaptive controller is globally asymptotically stable and guarantees zero tracking errors.

로봇 매니퓰레이터의 적응 출력 피드백 제어에 관한 연구

배준경 진주산업대학교 산업과학기술연구소 2007 산업과학기술연구소보 Vol.- No.14

This paper examines three methods of adaptive output feedback control for robotic manipulators. Implementing output feedback for control, instead of full-state feedback, allows use of only the position information. The position can be measured quite accurately, while velocity and acceleration measurements tend to get corrupted by noise. As well, having only a position sensor reduces costs in producing the robot. The three methods examined each use some form of state estimation. The methods examined are : a method proposed by Lee and Khalil using a high-gain observer, Craig, Hsu, and Sastry's method of adaptive robot control using a linear observer that we propose herein, and a method proposed by Gourdeau and Schwartz using an Extended Kalman Filter(EKF).

기계적 매니퓨레이터의 적응제어기법에 관한 연구

배준경 진주산업대학교 1999 산업과학기술연구소보 Vol.- No.6

A new class of adaptive controllers has been proposed, based on the observation that the parameter uncertainty if robotic links and loads is reflected in both the tracking errors in the joint motion and prediction errors inthe joint torques. The proposed composite adaptive controller is globally asymptotically stable and guarantees zero tracking errors. In addition, the proposed algorithm is relatively simple, because of an effective exploitation of the structure of manipulator dynamics. The performance of the proposed method is demonstrated dy simulation on a 2-link manipulators.

Zermelo의 항해문제를 위한 신경회로망 최적 제어

배준경,박진현 한국기계기술학회 2015 한국기계기술학회지 Vol.17 No.4

Zermelo's navigation problem is that the ship reaches a particular target point in the minimum-time when it travels with a constant speed in a region of strong currents and its heading angle is the control variable. Its approximate solution for the minimum-time control may be found using the calculus of variation. However, the accuracy of its approximate solution is low since the solution is based on graph or table form from a complicated nonlinear equations. To improve the accuracy, we use a neural network. Through the computer simulation study we have found that the proposed method is superior to the conventional ones.

압력섭동에 따른 비정상 화염편 응답특성 해석

배준경(Junkyung Bae),김용모(Yongmo Kim),김성구(Seong-Ku Kim) 한국연소학회 2011 한국연소학회지 Vol.16 No.1

This study has been mainly motivated to numerically investigate the transient flame response to pressure oscillations in the gaseous hydrogen - liquid oxygen flames at supercritical pressures. The present analysis is based on the real-fluid transient flamlet model and the flame field is acoustically perturbed only by the sinewave oscillations in the frequency range from 1,000 ㎐ to 5,000 ㎐. Based on numerical results, the detailed discussions are made for the flame response characteristics and the transient flamelet response associated with the high-frequency combustion instability in the liquid propellant rocket engines.

브러시 공정을 이용한 변속기 밸브바디의 효율적인 디버링 방법 개발

배준경(Jun-Kyung Bae),안동현(Dong-Hyun Ahn),권병찬(Byeong-Chan Kwon),고성림(Sung-Lim Ko) 한국기계가공학회 2018 한국기계가공학회지 Vol.17 No.1

The cleanability of machine parts is becoming increasingly important in the industrial field. In particular, cleanability is the most important factor in hydraulic products. The burr and chips are dominant factors of cleanability. If the burrs are not removed completely before the beginning of the machining stage, this will cause many problems, such as scratches and operation failure. Due to the complexity of the valve body itself, it is very difficult to use common deburring tools. In this study, a brush-like deburring tool was suggested and verified as a proper tool for removing the burrs and forming a proper edge shape through a real experiment. Various kinds of brush materials and process conditions were tested for proper deburring of the valve body. It was shown that the suggested method was successful for valve body deburring.