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Bae, Yeong-Geol,Jung, Seul World Scientific Publishing Company 2018 INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS Vol.15 No.3
<P>This paper presents the balancing control performance of a mobile manipulator built in the laboratory as a service robot called Korean robot worker (KOBOKER). The robot is designed and implemented with two wheels as a mobile base and two arms with six degrees-of-freedom each. Kinematics and dynamics of the robot are analyzed. For the balancing control performance, two wheels are controlled independently by the time-delayed control method based on the inertia model of the robot. The acceleration information obtained directly from the sensor is used for the modified disturbance observer structure called an acceleration-based disturbance observer (AbDOB). Experimental studies of the balancing control of the robot are conducted to compare the control performances by both a PID control method and an AbDOB.</P>
Kinematic Design and Workspace Analysis of a Korean Service Robot : KOBOKER
Yeong-Geol Bae,Seul Jung 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
This paper analyzes the workspace of KOBOKER built as a service robot for home applications. KOBOKER is a kind of mobile manipulators that have two arms and two wheels to fit Korean life style which relies mostly on floor living. KOBOKER performs handling tasks not only on the desk but also on the floor. Among several new design concepts of KOBOKER, the most typical design is the sliding mechanism of two arms that allows the robot to reach objects on the floor easily. The workspace of the robot is analyzed through kinematics. A suitable wheel size is determined by analyzing the workspace of the robot on the floor.
Cartesian Trajectory Control of Humanoid Robot Arms Based on a Disturbance Observer
Yeong-Geol Bae,Seul Jung 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
This paper presents an application of a disturbance observer (DOB) to the Cartesian space control of one of humanoid robot arms. Position tracking performance of the robot arm is improved by rejecting disturbance by an acceleration-based DOB(AbDOB). AbDOB utilizes an accelerometer to measure acceleration of the end-effector directly, uses that to form a conventional DOB structure, and cancels out disturbance. Experimental studies are conducted to evaluate the performance of the proposed Cartesian position control by an acceleration based DOB method.
선형 작업 영역 확장 구조를 가진 두 바퀴 구동 모바일 로봇에 대한 연구
배영걸(Yeong-Geol Bae),정슬(Seul Jung) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.4
This paper presents a two-wheel balancing mobile robot with linear workspace extension structures. The two-wheel mobile robot has two linear motions at the waist and shoulder to have extended workspace. The linear motion of the waist and shoulder provides some structural advantages. A dynamic equation of the simplified robot system is derived. Simulation studies of the position control of the robot system are performed based on the dynamic equations. The dynamic relationship between a two-wheel mobile system and linear extension mechanism is observed by simulation studies.
원격제어 시스템의 종로봇인 이동 로봇의 제작과 힘 추종 제어 구현
배영걸(Yeong Geol Bae),최호진(Ho-Jin Choi),정슬(Seul Jung) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.7
In this paper, an implementation of force control for a slave mobile robot in tele-operation environment is presented. A mobile robot is built to have a force control capability with a force sensor and tested for force tracking control performances. Both position and contact force are regulated by a PID based hybrid control method and the impedance force control method. To minimize accumulated errors due to the adaptive impedance force control method, the novel force control method with a weighted function is proposed. Experimental studies of regulating contact forces for different control algorithms are tested and their performances are compared.
직렬ㆍ병렬 혼합구조의 휴머노이드 상체로봇의 기구학 해석 및 움직임 구현
배영걸(Yeong Geol Bae),정슬(Seul Jung) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.9
This article presents a combined structure of serial and parallel mechanisms for a humanoid robot. The 3 DOF parallel structure is designed and added to the waist of the humanoid robot arm to give flexible bending and rotating motions. Forward and inverse kinematics of a serial and parallel robot have been analyzed to generate motions. Simulation studies of verifying kinematics solutions of the parallel robot have been done. Experimental studies of mimicking shake-hands motion have been conducted to show the feasibility and usability of the combined structure.
가속도 센서기반의 변형된 외란 관측기를 이용한 로봇 매니퓰레이터의 위치 제어의 보상
배영걸(Yeong-Geol Bae),정슬(Seul Jung) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.5
This paper presents a modified disturbance observer (MDOB) for controlling two arms of a manipulator designed for a home service robot. The MDOB is slightly different from the original DOB in that it uses an accelerometer to measure acceleration of the robot arm. Then it uses the acceleration to estimate the disturbance to cancel out in the control loop. Relying on the acceleration information of the robot arm, a partial model-based control structure is formed. Experimental studies of position control of 2 DOF robot arm are conducted to evaluate the performance of the proposed position control by an MDOB method.