Telerobot System for Carrying FPD

Gaponov Igor,조현찬,김종원,Totorkulov Khalis,최성주 한국지능시스템학회 2007 한국지능시스템학회 학술발표 논문집 Vol.17 No.1

In this paper, intelligent filtering methodology for masterarm translation signal is proposed. Fidelity and stability are contradicting factors in teleoperation. Human hand trembling filtering is one of the problems in telemanipulation field. During every operation the hand has a certain vibration that can affect the quality of teleoperation, especially in carrying FPD (Flat Panel for Display), nanomanipuation and other precise tasks. It is very important to study the kinesthetic perception of the human and to optimize the teleoperation system accordingly. To cancel out the influence of human’s hand vibration the signal from the masterarm should be filtered. One of the feasible solutions is to use an intelligent filter, which is a very flexible instrument. Applying intelligent filtering methodology, we can use some heuristic methods to solve the filtering problem.

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.

Comparison of Routh-Hurwitz and Absolute Stability Criteria in Application to Scaled Telerobotics Systems

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.

Design of Intelligent Filter for Telerobotic System

Igor Gaponov,Hyun-Chan Cho,Seong-Joo Choi 한국지능시스템학회 2008 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.8 No.2

In this paper, intelligent filtering methodology for masterarm translation signal is proposed. Fidelity and stability are contradicting factors in teleoperation. Human hand trembling filtering is one of the problems in telemanipulation field. During every operation the hand has a certain vibration that can affect the quality of teleoperation, especially in carrying FPD (Flat Panel for Display), nanomanipuation and other precise tasks. It is very important to study the kinesthetic perception of the human and to optimize the teleoperation system accordingly. To cancel out the influence of human's hand vibration the signal from the masterarm should be filtered. One of the feasible solutions is to use an intelligent filter based on fuzzy logic, which is a very flexible instrument. Applying intelligent filtering methodology, we can use some heuristic methods to solve the filtering problem.

바이오셀 조작을 위한 원격조작 로봇 시스템

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.

ON THE STRUCTURE OF DISTURBANCES IN THE SUPERSONIC BOUNDARY LAYER

S. A. Gaponov 대한기계학회 1992 International Conference on Fluid Machinery Vol.1 No.1

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.

Portable Exoskeleton Glove With Soft Structure for Hand Assistance in Activities of Daily Living

Popov, Dmitry,Gaponov, Igor,Ryu, Jee-Hwan IEEE 2017 IEEE/ASME transactions on mechatronics Vol.22 No.2

<P>This paper presents a new portable exoskeleton glove developed for assistance in activities of daily living ( ADL). The proposed glove is soft, adjustable, allows unconstrained motion of the wrist, and leaves the palm free for object grasping and manipulation. In the proposed design, both flexion and extension motions of the thumb and three fingers ( excluding the little finger) are supported by respective bidirectional actuators. The kinematics of the device were derived and are presented along with an experimental evaluation. The developed glove system is compact and light, with the weights of the wearable part and the whole system being 250 and 340 g, respectively. The maximum pinch force provided by the device was experimentally measured to be 16 N, which gives the proposed device one of the highest power-to-weight ratio among existing portable devices for hand ADL assistance. The usability of the developed device was verified in a series of indoor and outdoor tests. The glove allowed test subjects to hold and manipulate versatile objects with diameters up to 90 mm and weighing 300 g. When powered by a conventional 3000-mAh battery, the glove could operate continuously performing grasping task for 4 h.</P>

Adaptive Control over Quadcopter UAV under Disturbances

Anastasia Razinkova,Igor Gaponov,Hyun-Chan Cho 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10

This paper is concerned with adaptive compensation for position tracking error of quadrotor UAVs. We propose an adaptive compensation scheme which effectively reduces errors in tracking desired position along X- and Y-axis in the presence of constant disturbance. The proposed control strategy is verified through extensive computer simulations. Implementation of the designed adaptive compensator allowed to reduce tracking error by a factor of 3 and can be effectively used in practical quadcopters.

줄 꼬임 기반 팔꿈치 외골격

Dmitry Popov,이광현,Igor Gaponov,유지환 한국로봇학회 2013 로봇학회 논문지 Vol.8 No.3

This paper presents a new concept of a 1-DOF elbow exoskeleton driven by a twisted strings-based actuator. A novel joint actuation mechanism is proposed and its kinematic model is presented along with its experimental evaluation, and guidelines on how to choose the strings suitable for such an exoskeleton are given. We also proposed and experimentally verified a human intention detection method which takes advantage of intrinsic compliance of the mechanism. The study showed that the developed twisted strings-driven elbow exoskeleton is light, compact and have a high payload-to-weight ratio, which suggests that the device can be effectively used in a variety of haptics, teleoperation, and rehabilitation applications.