http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
엄일용,정슬,Eom, Il Yong,Jung, Seul 대한임베디드공학회 2011 대한임베디드공학회논문지 Vol.6 No.5
In this paper, an intelligent force control technique is applied to an autonomous helicopter. Although most research on the autonomous helicopter system is about navigation and control, force control of an autonomous helicopter system is quite new and not presented yet. After controlling the position of the helicopter by the LQR method, force control is applied. The adaptive impedance force control algorithm is introduced and tested to regulate the desired force under unknown location and stiffness of the environment. To compensate for uncertainty from outer disturbance, a neural network is added to form an intelligent force control framework. Simulation studies show that the proposed force control algorithm works well.
송영훈,김준영,엄일용,김수종,김성락 제어로봇시스템학회 2008 제어로봇시스템학회 국내학술대회 논문집 Vol.2008 No.10
This paper resents methods of control for high performance of robots that handle large LCD glass substrates. The typical mechanical structure of the robot employs a double arm type to increase productivity. However, this large size double-armed robot suffered from a large static and dynamic deflection when extracting or retracting the arms, which must be reduced in order to satisfy the performance criteria. The vibration of the arms due to this low stiffness of the robot was reduced by various control methods, which includes from the lowest to the highest control levels of the controller, such as servo controls with filtering techniques and gain tuning, dynamics-based trajectory planning, robot teaching, and handling system faults, It was demonstrated that the performance criteria was satisfied by adopting the proposed control methods in spite of the insufficient stiffness of the mechanical structure of the robot.