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구호 작업용 연성 매니퓰레이터 개발을 위한 시뮬레이터 설계
원건(Gun Won),김태근(Tae-Keun Kim),황정훈(Jung-Hoon Hwang) 대한기계학회 2016 대한기계학회 춘추학술대회 Vol.2016 No.12
This paper is about the simulation of manipulator of 7 Degree of Freedom for relief operation. Each joint of a robot can input stiffness values. Therefore, it is designed for generating vibration of manipulator. PID control is applied for solving the manipulator vibration. In order to select the torque and gear of a motor, we plan to use the joint velocity which obtained from this simulation.
구호로봇용 연성 매니퓰레이터를 위한 조인트 제어 및충돌감지 알고리즘
정병진,김태근,원건,김동섭,황정훈 한국로봇학회 2018 로봇학회 논문지 Vol.13 No.3
This paper deals with the development and application of control algorithms for series elastic relief robots for rescue operations in harsh environment like disasters or battlefield. The joint controller applied in this paper has a cascade structure combining inner loop for torque control and outer loop for position control. The torque loop contains feedforward and feedback controller and disturbance observer for independent, decentralized joint control. The effect of the elastic component and motor dynamics are treated as the nonlinear disturbance and compensated with the disturbance observer of torque controller. For the collision detection, Band Designed Disturbance Observer is configured to recognize/respond to external disturbance robustly in the continuously changing environment. The controller is applied to a 7-dof series elastic manipulator to evaluate the torque tracking and collision detection/response performance.
정명진,강준수,김현승,원건,이성용 제어로봇시스템학회 2009 제어로봇시스템학회 국내학술대회 논문집 Vol.2009 No.9
Recently, RFID(Radio Frequency Identification) system for effective managiment of a large number of book is used in the library according to increasing of library books. This system is used in the area of unmanned machine such as loan and return machine in the library. In this paper, automatic return and classification system of book using for library is proposed. This system has functions of recognition, movement, and classificaiton of inserted book for return. By these functions, returned book is classfied simultaneously. Proposed system is developed and verified by performance test.