힘 제어 기반의 로봇 팔과 인간 팔의 상호 작용을 위한 임베디드 시스템 설계

다국어 초록 (Multilingual Abstract)

In this paper, an embedded system has been designed for force control application to interact between a robot arm and a human operator. Force induced by the human operator is converted to the desired position information for the robot to follow. For smooth operations, the impedance force control algorithm is utilized to represent interaction between the robot and the human operator by filtering the force. To improve the performance of position control of the robot arm, a velocity term has been obtained and tested by several filters. A PD controller for position control has been implemented on an FPGA as well. Experimental studies are conducted with the ROBOKER to test the functionality of the designed hardware.

목차 (Table of Contents)

• Abstract
• Ⅰ. 서론
• Ⅱ. Humanoid Robot
• Ⅲ. 힘제어
• Ⅳ. FPGA 설계
• Ⅴ. 실험결과
• Ⅵ. 결론
• 참고문헌

참고문헌 (Reference)

1 G. J. Liu, "Robust hybrid impedance control of robot manipulators" 287-292, 1991

2 정슬, "ROBOKER 팔의 제어를 위한 FPGA 기반 비선형 제어기의임베디드 하드웨어 구현" 제어·로봇·시스템학회 13 (13): 1153-1159, 2007

3 N. Hogan, "Impedance control: an approach to manipulator, part i, ii, iii" 3 : 1-24, 1985

4 M. Raibert, "Hybrid position/force control of manipulators" 102 : 126-133, 1981

5 R. Anderson, "Hybrid impedance control of robotic manipulators" 1073-1080, 1987

6 S. Jung, "Hardware implementation of a real-time neural network controller with a DSP and an FPGA for nonlinear systems" 4 (4): 265-271, 2007

7 S. S. Kim, "Hardware implementation of a neural network controller with an MCU and am FPGA for nonlinear systems" 4 (4): 567-574, 2006

8 H. W. Jeon, "Hardware design on an FPGA chip of Impedance force control for interaction between a human and a robot arm" ASCC 1480-1485, 2009

9 S. Jung, "Force tracking impedance control for robot manipulators with an unknown environment: Theory, simulation, and experiment" 29 (29): 765-774, 2001

10 H. W. Jeon, "Embedded design of position based impedance force control for implementing interaction between a human and a ROBOKER" ICCAS 1946-1950, 2008

11 S. Jung, "Adaptive force tracking impedance force control of robot for cutting process" 1800-1805, 1999