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불확실 환경에서 산업용 로봇의 안정적 상호작용을 위한 어드미턴스 에너지 제한 알고리즘의 적용
류제하(Jeha Ryu),김세훈(Sehun Kim),김종필(Jongphil Kim) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.5
Stability is an important for robot interaction control with environment. Even though robust impedance controls are useful for robot interaction control, they can only guarantee stability for a designed range of environment. This paper presents an admittance type energy bounding approach (AEBA) to achieve robust stability for uncertain environments. The proposed controller is a combination of the EBA with conventional robust impedance controller. We also demonstrate the design of parameters of AEBA to guarantee contact stability under unstable areas and preserve impedance control’s response under stable areas and show experimental results.
류제하(Jeha Ryu),김재하(Jaeha Kim),서창훈(Changhoon Seo),임요안(Yo-An Lim),김종필(Jong-Phil Kim) 대한기계학회 2009 大韓機械學會論文集A Vol.33 No.4
Haptics technology allows one to interact with virtual environments, augmented environments, and real environments providing tactual sensory information. Science and technology of haptics can in general be classified into three groups: machine haptics, computer haptics, and human haptics. This paper surveys the state-of-the-art of haptic control technology for virtual environments and teleoperation (real environments) and then proposes possible future research directions in the following areas: haptic stability control, bilateral teleoperation control, and stability enhancement control.
자동주행 차량의 차선변경 충돌회피 알고리즘의 개발 및 HILS 시험
류제하(Jeha Ryu),김종협(Jonghyup Kim) 한국자동차공학회 1998 한국자동차공학회 춘 추계 학술대회 논문집 Vol.1998 No.11_2
A lane-change collision avoidance algorithm for autonomous vehicles is studied. Nominal control inputs are generated by solving the inverse dynamic equation of motion for lane-change maneuver. A corrective steering input from preview is also considered to reduce unpredictable errors. The proposed control algorithm include DYMC(Direct Yaw Moment Control) which insure yaw directional stability. The performance of the algorithm is evaluated with ABS H1LS system which consist of 17 DOF vehicle model and real brake and ABS hardware parts. The HILS simulation result shows that the proposed algorithm may be used for emergency lane-change maneuvers for autonomous vehicles.<br/>