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Robust Adaptive Control of A HexaSlide Type Parallel Manipulator
Kim, Jong-Phil,Kim, Sung-Gaun,Ryu, Jeha Institute of Control 2001 Transaction on control, automation and systems eng Vol.3 No.4
Jeha Ryu Department of Mechatronics, Kwangju Institute of Science and Technology This paper presents an application of a robust adaptive control strategy to HexaSlide type six degrees-of-freedom parallel manipulators. The HexaSlide type parallel manipulators are characterized as an architecture with constant link lengths that are attached to moving sliders on the ground and to a mobile platform. The proposed control law is developed based on a simplified second order system dynamic equation in joint space with uncertain mass, damper, spring, and Coulomb friction terms. These uncertain parameters are updated by an adaptation law that is derived by Lyapunov stability theorem. A robust adaptive control law by using the boundary layer is designed for the purpose of compensating for the neglected dynamic effects of the mobile platform and the six moving links that are modeled as a disturbance term. Experimental results show good and fast tracking performance.
SpiderBot™ : A New Silver Robot Platform for the Elderly and the Handicapped
Jeha Ryu,Hossein S.Farahani,Bohyun Kim,Sung-Gaun Kim,Nam-Gyun Kim 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2004 International Journal of Assistive Robotics and Me Vol.5 No.3
This paper presents a new silver robot platform, SpiderBot™. The assistance scenario and conceptual design of the Spider Bot™ for better performance compared to the conventional mobile silver robots are discussed. The conceptual design is addressed considering real residence environment, human friendliness, and user convenience. The design is divided into mechanical parts, control parts, driving parts, sensor parts, and end-effectors. Loading condition and loading scenario for various assistance modes are briefly investigated to meet various requirements for the elderly and the handicapped. The dynamic model of the robot, adaptive control was simulated to verify the feasibility of the SpiderBot™ platform.
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.
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/>