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Collision detection and reaction on 7 DOF service robot arm using residual observer
조창노,Joon-Hong Kim,이상덕,송재복 대한기계학회 2012 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.26 No.4
The use of robots in service and manufacturing industries has increased significantly in past decades. These robots share the same workspace with humans, so physical interactions between humans and robots occur. Thus, collision between a human and a robot is inevitable during these interactions, and safety measures must be provided to protect humans. In this study, a disturbance observer based on generalized momentum is proposed to efficiently detect a collision. The proposed algorithm of the disturbance observer allows any multi-DOF robot to effectively detect a collision without the use of additional sensors or mechanisms. Once a collision is detected, the robot can perform the appropriate reaction to minimize the impact on the human and the robot. Several reaction strategies are proposed for different situations. The proposed algorithm was implemented on a 7 DOF robot arm to verify its performance. Furthermore, the proposed reaction strategies were also demonstrated using the same robot arm.
조창노,이상덕,송재복 한국로봇학회 2014 로봇학회 논문지 Vol.9 No.2
Human-robot co-operation becomes increasingly frequent due to the widespread use of service robots. However, during such co-operation, robots have a high chance of colliding with humans, which may result in serious injury. Thus, many solutions were proposed to ensure collision safety, and among them, collision detection algorithms are regarded as one of the most practical solutions. They allow a robot to quickly detect a collision so that the robot can perform a proper reaction to minimize the impact. However, conventional collision detection algorithms required the precise model of a robot, which is difficult to obtain and is subjected to change. Also, expensive sensors, such as torque sensors, are often required. In this study, we propose a novel collision detection algorithm which only requires motor encoders. It detects collisions by monitoring the high-pass filtered version of the velocity error. The proposed algorithm can be easily implemented to any robots, and its performance was verified through various tests.
Collision Detection Algorithm Robust to Model Uncertainty
조창노,송재복 제어·로봇·시스템학회 2013 International Journal of Control, Automation, and Vol.11 No.4
With the widespread use of service robots, safety issues regarding human-robot collisions have received increasing attention. The collision detection algorithm, which allows a robot to effectively detect and react against a collision, is considered as one of the most practical solutions for ensuring collision safety. However, these algorithms are often model-based, so it cannot ensure collision safety under payload variations or model uncertainty. In this paper, a novel collision detection algorithm based on torque filtering is proposed to cope with this problem. The torque due to the motion of the robot can be effectively removed using the Butterworth 2nd-order BPF (band pass filter) so that only the torque due to a collision is used for collision detection. This improves the robustness of the algorithm against model uncertainties. The proposed algorithm does not require the use of acceleration data. The performance of the algorithm was experimentally verified.
조창노,정현철,손재범,손대경,김광기 대한의용생체공학회 2016 Biomedical Engineering Letters (BMEL) Vol.6 No.1
Purpose Natural orifice transluminal endoscopic surgery(NOTES) is a next generation surgical method with manypromising benefits. Many snake-like NOTES platforms havebeen developed, but the lack of a proper control algorithmprevents those platforms from being used in practices. Thisstudy proposes an intuitive control algorithm for snake-likeNOTES platforms, which is simple in structure and easilyapplicable to various NOTES systems. Methods An intuitive snake-like NOTES platform controlalgorithm based on the motion history and insertion depthdata is proposed. The operator directly controls the headmodule of the platform while the rest of the platform followsthe motion of the head module according to the insertiondepth. Also, the orientation of the head module is set to beconstant for intuitive control. The algorithm was verifiedthrough various simulations. Results Several random and anatomical paths were preparedto validate the performance of the proposed algorithm and itwas found that the proposed algorithm was able to guide theNOTES platform into the desired location. Conclusions The proposed algorithm provides an intuitiveand efficient way of controlling snake-like NOTES platformsand we expect that the proposed algorithm will help surgeonsperforming NOTES.
조창노(C. N. Cho),김동엽(D. Y. Kim),신동인(D. Shin),정병진(B. Jung),김태근(T. K. Kim),황정훈(J. H. Hwang) Korean Society for Precision Engineering 2021 한국정밀공학회 학술발표대회 논문집 Vol.2021 No.11월
공정 자동화를 위해선 다양한 제조사로부터 제조된 다양한 장비들이 연동되어 제어 될 필요가 있으며 이를 위해 MTConnect 나 OPC Unified Architecture (OPC-UA)와 같은 다양한 통신 프로토콜들이 제안되어 왔다. 특히 OPC-UA는 GPL 2.0 라이선스로 쉽게 활용이 가능하며, 특정 플랫폼, Operating System (OS), 언어에 구속되지 않고 높은 수준의 보안기능을 내장하고 있어 스마트 팩토리를 위한 차세대 통신 방식으로 각광받고 있다. 본 연구에서는 이러한 OPC-UA 에 기반한 머신 텐딩시스템을 제안한다. 로봇을 이용하여 공작기계를 무인화 하는 머신텐딩은 실제 산업 현장에서 널리 사용되고 있으나 다양한 공작기계 및 로봇 제조사 간 지원하는 통신 인터페이스가 상이한 경우가 많아 유연한 연동에 제약이 있었다. 본 연구에서는 전체 공정을 총괄하는 마스터, 로봇 제어기, 비전 시스템, 그리고 공작기계를 OPC-UA 를 통해 연동함으로써 전체 시스템이 통일된 언어로 동작하도록 하였으며 OPC-UA 를 지원하지 않는 로봇과 공작기계는 중간 게이트 웨이를 개발하여 OPC-UA 연동이 가능하도록 하였다. 비전 시스템으로 인식된 물체의 위치나 로봇의 현재 위치 등을 OPC-UA 의 변수로 하여 전체 시스템이 접근할 수 있도록 하였으며 로봇의 동작을 OPC-UA Method 화 하여 손쉽게 마스터가 로봇을 제어할 수 있도록 구성하였다. 제안된 시스템으로 성공적으로 머신텐딩 작업을 구현하였으며 다양한 시스템들이 OPC-UA 를 통해 유연하게 연동될 수 있음을 검증하였다.