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- 저자 : 이고르(Igor Gaponov) (검색결과 5 건)
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The Implementation of Biorobotic Micromanipulation System
Igor Gaponov(가포노브 이고르),Hyun-Chan Cho(조현찬),Hong Tae Jeon(전홍태) 대한전자공학회 2010 대한전자공학회 학술대회 Vol.2010 No.6
This paper suggests intelligent control algorithm implemented within biorobotic micromanipulator control system. The change of various environment parameters requires the change of corresponding robot controller gains in order to maintain required accuracy and overall stability of the system. We propose an intelligent control system which will choose desired controller parameters from pre-given gains set in order to maintain desired system performance. In addition, a haptic interface based on a relatively new working principle is suggested. In such an interface, the haptic device is actuated by the means of twisting the flexible threads.
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Intelligent Control System for Biorobotic Micromanipulator
이고르(Igor Gaponov),조현찬(Hyun-Chan Cho) 한국지능시스템학회 2009 한국지능시스템학회 학술발표 논문집 Vol.19 No.2
This paper suggests intelligent control algorithm implemented within biorobotic micromanipulator control system. The change of various environment parameters requires the change of corresponding robot controller gains in order to maintain required accuracy and overall stability of the system. We propose an intelligent control system which will choose desired controller parameters from pre-given gains set in order to maintain desired system performance. These gains sets are checked for being stable and robust beforehand basing on several stability criteria which guarantees the stability of control system.
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가포노브이고르 ( Igor Gaponov ),조현찬 ( Hyun Chan Cho ) 한국실천공학교육학회 2011 실천공학교육논문지 Vol.3 No.1
본 논문에서는 원격조작 미세조정을 위한 매니퓰레이터를 제안한다. 2 ?m정도의 정밀도를 갖는 매니퓰레이터를 설계하고 제어하기 위해 매니퓰레이터의 정밀도를 사전 계산하였고 그에 따른 각종 부품들로 실 시스템을 제작 하였다. 본 논문에서 제작된 원격조작 로봇 시스템은 여러 미세동작 제어 실험을 통해 그 정밀도가 검증하였고 원격 조작 로봇 시스템의 한 부분으로서 미세조정 매니퓰레이터의 적절성이 증명되었다. 제안된 매니퓰레이터는 아나로그적인 여러 요소로 제작 되었으며 논문에서 시스템의 장단점을 분석 하였다. In this paper, we propose a novel manipulator intended for the needs of telerobotic micromanipulation. We designed an original manipulator capable of performing fine motion with an accuracy greater than 2 ?m, while remaining simple in design and easy in control. Preliminary calculations of manipulator accuracy have been conducted, and the device has been designed and manufactured accordingly. The accuracy of the proposed manipulator has been verified during the series micro-positioning experiments under different types of controllers, and the results proved that the manipulator is suitable for micromanipulation applications as a part of telerobotic system. The proposed manipulator has been compared to existing analogues by several parameters, and both its advantages and disadvantages have been discussed.
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Igor Gaponov(이고르 가포노프),Hyun Chan Cho(조현찬),Hong-Tae Jeon(전홍태) 대한전자공학회 2013 전자공학회논문지 Vol.50 No.11
본 논문에서는 스케일 텔레 로보틱스 시스템에 Routh-Hurwitz와 Llewellyn의 절대 안정도 기준의 적용에 관한 비교 연구결과를 보인다. 텔레 로보틱스 시스템의 동적 방정식이 주어지고, 시스템의 전달함수는 더 나은 안정도 해석을 얻게 된다. 제어기 이득의 안정적인 마진은 두 가지의 안정도 해석 방법을 통하여 얻을 수 있으며, 본 논문에서 그 결과의 차이를 밝히고 설명했다. 본 논문은 안정도 분석결과를 수치 예제를 통해 증명하는 것으로 결론을 도출한다. This paper presents a comparative study on application of Routh-Hurwitz and Llewellyn absolute stability criteria to a scaled telerobotic system. The dynamic equations of the telerobotic system are given, and the transfer function of the system is obtained for further stability analysis. The stable margins of controller gains are obtained using both stability analysis methods, and the differences in the results are described and explained. The paper is concluded by a numerical example verifying performed stability analysis.
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Rotational Twisted String Actuator with Linearized Output for a Wearable Exoskeleton
Usman Mehmood(우스만 매흐무드),Dmitry Popov(드미트리 포포프),Igor Gaponov(이고르 가파노브),Jee-Hwan Ryu(유지환) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.6
Early wearable robotic devices were big, powerful and manipulator-like. Recently, various applications of wearable robotics have shown a greater demand for lower weight and compliancy. One approach to achieve these objectives is the use of novel actuators such as twisted string actuators. These actuator are very light, quiet, mechanically simple and compliant. Therefore, they can drastically decrease the weight and size of robotic systems such as exoskeletons. However, one drawback of this actuator is its nonlinear transmission ratio, which is established as a ratio between the angle of twisting of the strings and their resulting contraction. In this paper, we propose a transmission mechanism with rotational motion as the output incorporating a twisted string actuator (TSA). The designed mechanism allows the linearization of the relationships between the input and output displacements and forces of a TSA. The proposed design has been validated theoretically and through a set of computer simulations. A detailed analysis of the performance of the proposed mechanism is presented in this paper along with a design guideline.
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