외바퀴 로봇의 동적 속도 제어

한인우(In-Woo Han),황종명(Jong-Myung Hwang),한성익(Seong-Ik Han),이장명(Jangmyung Lee) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.1

This paper presents a new control algorithm for dynamic control of a unicycle robot. The unicycle robot motion consists of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel pendulum. The unicycle robot doesn"t have any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Euler-Lagrange equation is applied to derive the dynamic equations of the unicycle robot to implement the dynamic speed control of the unicycle robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and LQ regulator are utilized to guarantee the stability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based sliding mode controller has been adopted to minimize the chattering by the switching function. The LQR controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the wheel. The control performance of the two control systems form a single dynamic model has been demonstrated by the real experiments.

Method to Improve the Control Performance of Ball Robot in Driving Control

Gi-Tae Kim,Myung-Jin Chung 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10

Recently, with the development of batteries and location recognition technology, the field of application of mobile robots that can move is expanding. Most mobile robots use four wheels to implement a movement function, so they are strong in straight-line driving, but have limitations in direction change and rotation in a fixed place. On the other hand, the ball robot using a ball as a wheel has a structure with one point of contact with the ground, so it has the advantage of being free to change direction in a narrow space compared to the existing mobile robot based on four wheels. Due to its structurally unstable characteristics, posture control is required in addition to driving control. In this study, a control method was proposed to improve the control performance in the driving control of the ball robot. A PID controller for posture control and a PID controller for driving control for a ball robot, which is composed of a bowling ball, motor, omni wheel, acceleration sensor, battery, control board, and body, were designed. For posture control, information from angle and acceleration sensors was used, and for driving control, image processing information was used. Through the test of driving control performance, it was confirmed that the control performance of ball robot was improved by adding the body tilt angle in the moving direction and the reference moving distance to the existing PID control gain as the control input conditions.

불확실성을 가지는 전기 구동 논홀로노믹 이동 로봇의 궤적 추종을 위한 강인 적응 퍼지 백스테핑 제어

신진호(Jin-Ho Shin) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.10

This paper proposes a robust adaptive fuzzy backstepping control scheme for trajectory tracking of an electrically driven nonholonomic mobile robot with uncertainties and actuator dynamics. A complete model of an electrically driven nonholonomic mobile robot described in this work includes all models of the uncertain robot kinematics with a nonholonomic constraint, the uncertain robot body dynamics with uncertain frictions and unmodeled disturbances, and the uncertain actuator dynamics with disturbances. The proposed control scheme uses the backstepping control approach through a kinematic controller and a robust adaptive fuzzy velocity tracking controller. The presented control scheme has a voltage control input with an auxiliary current control input rather than a torque control input. It has two FBFNs(Fuzzy Basis Function Networks) to approximate two unknown nonlinear robot dynamic functions and a robust adaptive control input with the proposed adaptive laws to overcome the uncertainties such as parameter uncertainties and external disturbances. The proposed control scheme does not a priori require the accurate knowledge of all parameters in the robot kinematics, robot dynamics and actuator dynamics. It can also alleviate the chattering of the control input. Using the Lyapunov stability theory, the stability of the closed-loop robot control system is guaranteed. Simulation results show the validity and robustness of the proposed control scheme.

Robot Fish Tracking Control using an Optical Flow Object-detecting Algorithm

Kyoo Jae Shin 대한전자공학회 2016 IEIE Transactions on Smart Processing & Computing Vol.5 No.6

This paper realizes control of the motion of a swimming robot fish in order to implement an underwater robot fish aquarium. And it implements positional control of a two-axis trajectory path of the robot fish in the aquarium. The performance of the robot was verified though certified field tests. It provided excellent performance in driving force, durability, and water resistance in experimental results. It can control robot motion, that is, it recognizes an object by using an optical flow object-detecting algorithm, which uses a video camera rather than image-detecting sensors inside the robot fish. It is possible to find the robot’s position and control the motion of the robot fish using a radio frequency (RF) modem controlled via personal computer. This paper proposes realization of robot fish motion-tracking control using the optical flow object-detecting algorithm. It was verified via performance tests of lead-lag action control of robot fish in the aquarium.

이동로봇의 행동제어를 위한 2-Layer Fuzzy Controller

심귀보,변광섭,박창현,Sim, Kwee-Bo,Byun, Kwang-Sub,Park, Chang-Hyun 한국지능시스템학회 2003 한국지능시스템학회논문지 Vol.15 No.2

로봇의 기능이 다양해지며 복잡해지고 있다. 주위의 환경을 감지하는 센서로는 거리정보 뿐만 아니라 영상 정보, 음성 정보까지 이용하고 있다. 본 논문에서는 다양한 입력정보를 가진 로봇을 제어하기 위한 알고리즘으로 2-layer fuzzy control을 제안한다. 장애물 회피의 경우에 다수의 거리 센서를 이용하는데 이것을 앞쪽, 왼쪽, 오른쪽으로 분류하여 3개의 sub-controller를 가지고 퍼지 추론을 한 다음, 2단계에서는 이 3개의 sub-controller의 출력으로 조합된 퍼지 추론을 하여 통합적인 제어를 한다. 본문에서는 2-layer fuzzy controller와 비슷한 구조를 갖는 hierarchical fuzzy controller와 비교를 하였으며 robot following에도 적용하여 각각에 대한 시뮬레이션과 실험을 통해 성능을 확인한다. The ability of robot is being various and complex. The robot is utilizing distance, image data and voice data for sensing its circumstance. This paper suggests the 2-layer fuzzy control as the algorithm that control robot with various sensor information. In a obstacle avoidance, it utilizes many range finders and classifies them into 3parts(front, left, right). In 3 sub-controllers, the controller executes fuzzy conference. And then it executes combined control with a combination of outputs of 3 sub-controllers in the second step. The text compares the 2-layer fuzzy controller with the hierarchical fuzzy controller that has analogous structure. And the performance of the 2-layer fuzzy controller is confirmed by application this controller to robot following, simulation to each other and real experiment.

User Intention Based Intuitive Mobile Platform Control: Application to a Patient Transfer Robot

Jaewoo Park,Bohyun An,Ohwon Kwon,Hak Yi,Changwon Kim 한국정밀공학회 2022 International Journal of Precision Engineering and Vol.23 No.6

This study proposes a user’s intuitive intention-based control system for mobile robot platforms. As an application of the control scheme, we focused on a robot that transports patients in medical facilities. However, since most of the people who operate the patient transfer robot (PTR) are not robotics experts, an intuitive control method is needed to enable easy operation of the robot system. Also minimizing the discomfort experienced by the patient in the process of transferring the patient through the patient transfer robot is another important issue to consider. Therefore, the main contributions of this are developing an intuitive user interface and proposing a sway reduction control scheme. To accomplish the first issue, the intuitive control is implemented by proposing a robot control interface, where four force-sensing resistor (FSR) sensors are installed on a robot’s handle (where a user holds a robot). Through this, the robot can be easily moved with only a simple and intuitive operation of the user. Therefore forward, backward, left movement, right movement, left turn, and right turn operation can be controlled through the intuitive movement of the user input through the developed user interface. Additionally, in order to satisfy the second requirement, the patient’s sway reduction strategy is suggested by applying fuzzy logic-based control command generation method to the user intention. Through this method, the sway that occurs during the movement of the robot is reduced. In this study, the mecanum wheel was applied to the driving platform of the patient transfer robot to enable omnidirectional movement. The performance of the proposed control method is verified through simulations and experiments. Simulation and experimental results confirm that the proposed method reduced the acceleration and jerk root mean square values of the robot compared to a comparison method.

기반 기술 : User Created Contents 기반 서비스 로봇 제어의 개발 연구

나승권 ( Seung Kwon Na ),최석임 ( Seok Im Choi ),편용국 ( Yong Kug Pyeon ) 한국항행학회 2015 韓國航行學會論文誌 Vol.19 No.4

본 논문에서는 서비스 로봇 제어 시스템의 복잡한 소프트웨어 개발을 손쉽게 하기 위한 서비스 로봇 콘텐츠 개발 방법에 관한 연구이다. 본 연구에서 개발된 User created contents 기반 로봇 제어 시스템은 로봇 구동 제어회로, 센서 데이터 처리, 상태 표시, 모니터링 시스템 등을 모듈화 하여 사용자 입장에서 서비스 로봇 운용 화면을 구성하고 서비스 로봇을 운용 제어할 수 있는 시스템으로써 텍스트 기반에서 서비스 로봇 제어 콘텐츠를 자유롭게 운용할 수 있는 특징을 가진다. 또한, 사용자는 개발된 User created contents 를 이용하여 위치 변경뿐만 아니라 사용자가 원하는 로봇 운영 제어 GUI (graphic user interface) 도 변경이 가능하다는 장점을 가지고 있다. 결과적으로, 서비스 로봇 운용자가 사용자 입장에서 편리하게 서비스 로봇 콘텐츠를 만들 수 있는 방법을 제안하여 서비스 로봇의 개발을 활성화하는 방법을 제시하였다. This paper is a study on how to develop service robots can easily complex software development services robot control system. User created contents based on the robot control system developed in this study is a robot drive control circuit, a sensor data processing, the status, the monitoring systems and modular system to configure the service robot operation screen from a user perspective and that can control the service robot operation As in the text-based features that can be operated to have freedom to the robot control service content. In addition, the user has the advantage that changes position by the development as well as user created contents desired by the user operating the robot control GUI (graphic user interface) also changes are possible. As a result, the service robot operator to offer a way to make the service robot can be conveniently presented in a user``s point of view how to enable the development of the service robot.

Control Moment Gyro 원리를 이용한 외륜 로봇의 균형제어

정지수(Ji-Soo Jung),박희재(Hee Jae Parka) 한국생산제조학회 2018 한국생산제조학회지 Vol.27 No.3

This paper describes the design and realization methods of a unicycle robot using the CMG (Control Moment Gyro) method that is commonly used in altitude controls of satellites. To cause this robot to keep balancing upright, it is essential to control the roll and pitch angle of the robot simultaneously. Unlike the reaction wheel-based roll control of a unicycle robot, CMG method controls gimbals which constantly support a rotating rotor to produce the torque necessary to nullify the roll angle error of the robot. The dynamic model of the robot is derived using the Euler-Lagrange equation. By separating the equation into roll and pitch dynamics, LQR (Linear Quadratic Regulator) controllers and a state observer are designed. A series of simulations and experiments are conducted to validate the performance of the proposed control method. The results demonstrate the effectiveness of the proposed balancing control algorithm for the CMG-based unicycle robot.

텔레프리젠스 로봇의 수신자 중심 제어 방식이 실재감에 미치는 영향

오승환 ( Wu Cheng Huan ),최정주 ( Choi Jung Ju ),곽소나 ( Kwak Sonya S. ) 디자인융복합학회 2016 디자인융복합연구 Vol.15 No.5

텔레프리젠스 로봇과 사람의 소통은 텔레프리젠스 로봇을 통한 원격 발신자와 수신자의 소통이라 할 수 있다. 이에 따라, 텔레프리젠스 로봇을 통한 원활한 감정소통을 위해서는 원격 발신자의 실재감이 효과적으로 전달되어야 한다. 이 연구에서는 1차 실험의 시각정보 제어 상황과 2차 실험의 청각정보 제어 상황에서, 텔레프리젠스 로봇의 화면 내 제어 방식(화면 내 제어: 없음 vs. 있음)과 물리적 거리 제어 방식(물리적 거리 제어: 없음 vs.있음)에 따른 실재감에 미치는 영향에 대해 평가하였다. 실험 분석 결과, 텔레프리젠스 로봇의 화면 내 제어 방식과 물리적 거리 제어 방식이 원격발신자의 실재감 평가에 긍정적인 영향을 준다는 점을 검증하였다. As a telepresence robot is developed for interpersonal communication between a remote sender and a receiver, sending presence of a remote sender to a receiver is an important issue. In order to find effective ways to increase presence, we executed a 2(on screen control: a telepresence robot without on screen control vs. a telepresence robot with on screen control)×2(in space control: a telepresence robot without in space control vs. a telepresence robot with in space control) within participants design (N=48). In this study, participants observed four videos depicting a receiver interacting with a sender through a telepresence robot. The results showed that on screen control and in space control of a telepresence robot improved the presence of a remote sender. Implications for design of telepresence robots to increase presence are discussed.

Application of Model Predictive Control to Polishing Robot for Pushing Operation

Nobuaki Endo,Takashi Yoshimi,Koichiro Hayashi,Hiroki Murakami 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11

Much of the polishing work is done manually by skilled workers. It is not easy to teach robots to perform the detailed work of theirs and to configure and operate an appropriate control system to achieve this, and automation of this process has been delayed. Polishing is performed by pressing a rotating tool against the workpiece to be machined. To achieve this motion, PID control is used in the controllers of many robots. However, to determine the appropriate control gain, it is necessary to repeatedly adjust the control gain according to the processing target and processing conditions. The purpose of this research is to introduce Model Predictive Control (MPC) as a new control system for polishing robots. MPC is a control that predicts control output using a model of the control target. Therefore, we considered the target force value could be achieved without changing the MPC parameters when the force condition, a machining condition, is changed. In this paper, control block diagrams were created in MATLAB Simulink to apply MPC. The block diagram was then mounted on the actual machine to check whether it could be pressed with appropriate force, and the differences from PID were evaluated.