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鄭光孫,金鍾守,朴鍾國 慶熙大學校 材料科學技術硏究所 1993 材料科學技術硏究論集 Vol.6 No.-
This paper presents a new approach to the Robust Control for the two robot carring a common object with adaptive load sharing. In generally, the robust technique is the iterative design to determine a robust controller for pertubed system with prescribed range of pertu- bation based on the robust stability maesure. However, robot manipulator has the structured pertubation and unstructured one. Therfore, we cannot construct the robust control by using only bounding of pertubation of system. This paper propsed the new robust controller using the relation between unknown parameter and parameter of nominal system from Krasovskii's Theorem. And, the control schme includes includes the load sharing element which is to be tuned adaptively according to the condition of tasks.
단일 링크 유연성 로보트 팔에 대한 기준모델 적응 제어
정광손,류재춘,박종국 慶熙大學校 大學院 院友會 1991 高凰論集 Vol.9 No.-
Based on a model reference adaptive control approach a robust controller for a one link flexible arm moving among a pre-defined trajectory is proposed. In order to satisfy the prefect model following conditions, the model is chosen from the linearized model of the system as optimally controlled. The nominal trajectory is commanded to the system by mean of a dynamic filter. Robustness of system is tested by varying this nominal payload mass.
정광손,박종국 慶熙大學校 大學院 1993 高凰論集 Vol.12 No.-
A continuous-time adaptive model-following control algorithm is considered for a class of nonlinear time varying plants. Popov hyperstability is used in order to determine the adaptive gains of controller. The linear gains of the controller are determined by using model-following condition. The continuous-time adaptive controller considered is capable of compensating for the uncertainties and non-linearities in the system dynamical equation.
뉴로-퍼지 제어기를 이용한 로봇 매니퓰레이터의 궤적 추적
정광손(Jeong Kwang Son) 한국정보기술학회 2004 Proceedings of KIIT Conference Vol.2004 No.-
로봇 매니퓰레이터가 주어진 궤적을 추적하는데 있어 고려해주어야 할 주요 요소중에 하나는 실시간 제어가 될 수 있도록 매카니즘을 계산하는데 필요한 시간을 줄여주는 것이다. 신경망과 퍼지논리가 결합된 뉴로-퍼지 시스템은 병렬처리의 특성을 가지고 있기 때문에 로봇 매니퓰레이터의 궤적의 학습을 통해 복잡한 매카니즘을 수학적으로 계산하지 않고 실시간제어가 가능하다. 본 논문에서는 뉴로-퍼지 제어기를 이용한 로봇 매니퓰레이터의 궤적설계 문제를 연구하였다. 이 기법은 전형적인 퍼지로직시스템의 룰 베이스를 역전파 다층 신경망으로 대신한 것이다. 또한, 입출력값에 대한 퍼지구성함수 정의는 학습과 일반화 위한 뉴로-퍼지 제어기의 능력에 중요한 역할을 한다. 마지막으로, 평면 로봇 매니퓰레이터를 이용하여 제안한 기법의 타당성을 검토하였다. One of the considering facts in the tracking for the desired trajectory of the a robot manipulator will be reduced to the massive amount of computer time for the real-time control in the calculating of mechanism. Neuro-Fuzzy system combined the neural network and fuzzy logic possible to the real-time control for the characteristics of parallel processing through the learning of a robot manipulator trajectory in the not calculating complicated mechanism. In this paper, we researched a trajectory design problem of a robot manipulator using a neuro-fuzzy controller. The technique replaces the rule base of a traditional fuzzy logic system with a back propagation neural network. The definition of the fuzzy membership functions used to the fuzzification and defuzzification of the input and output variables plays a significant role in the ability of the neuro-fuzzy controller to learn and generalize. Finally the validity of proposed technique tested using planar manipulator.
위치 제어기를 갖는 로보트 매니퓰레이터의 Hybrid 위치/힘 제어
이병부(Lee Byung Boo),정광손(Jeong Kwang son),박종국(Park Chong Kug) 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
In this paper, a hybrid position/force control scheme is proposed. The control scheme modifies the position command for force control against constraint surface of environment and is very simply designed and implemented. The merits of the control scheme are that it can cope with change of constraint conditions and small position inaccuracy of the environment. A constraint surface position observer is also proposed to reduce disturbances On controlled force.