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IEEE International Conference on robotics and Automation (ICRA)

作者： Jinhyun Kim Woong Hee Shon Ho-Gil Lee Wan Kyun Chung Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea Robotics & Bio-Mechatronics Laboratory Pohang University of Science and Technology Pohang South Korea

To improve the maneuverability of underwater vehicles, accurate thruster control is required based on a precise thrust model. Especially, in real systems, the ambient flow velocity and angle effects on the thrust force are very important, because vehicles are continuously moving and/or hovering with thruster actions. In this paper, we execute preliminary experiments with the model containing ambient flow effects as CAR (critical advance ratio) and CIA (critical incoming angle). The distinguished characteristics of the above model is the three axial flow states classification. The whole thrust map is divided into three states according to the state of ambient flow velocity, angle, and propeller shaft velocity. The several controllers are tested using the three flow states information. The preliminary experimental results show the best performance can be obtained by the open loop control with accurate model, because the thrust force cannot be measured directly, so the force map from the propeller shaft velocity to thrust force plays important roll in control performance. However, the DOB (disturbance observer) with closed loop controller is realistic solution, because it can compensate various unknown disturbances in real systems

关键词： Underwater vehicles Open loop systems Force measurement Propellers Shafts Testing Velocity measurement Force control Velocity control Control systems

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Instance segmentation based recognition system tracking tomatoes by ripeness in natural light conditions

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Journal of Institute of Control, robotics and Systems 2020年第11期26卷 940-948页

作者： Lee, Woo-Young Ko, Kwang Eun Kang, Jaehyeon Park, Hyun Ji Jang, Inhoon Applied Robot R&D Department Korea Institute of Industrial Technology Korea Republic of Department of computer Science & Engineering Hanyang University Korea Republic of

This paper describes a tomato recognition system to be applied to a harvesting robot used in farms under natural light conditions. The tomato recognition system is composed of a stereo camera, light, deep learning based instance segmentation model and Kalman filter based object tracking algorithm. In order to train the instance segmentation model, a large-scale dataset of the actual smartfarm background is made, and performance verification is performed on the test dataset. The average precision of the deep learning based instance segmentation model achieved 96.8% of performance when the threshold of the prediction score for classifying ripeness is over 0.75 (Table. 3), and the multiple object tracking accuracy of the Kalman filter based tracking method is approximately 74.3%. © ICROS 2020.

关键词： Kalman filters

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6DOF Pose Estimation using 2D-3D Sensor Fusion

6DOF Pose Estimation using 2D-3D Sensor Fusion

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IEEE International Conference on Automation Science and Engineering

作者： Yong-Deuk Shin Jae-Han Park Moon-Hong Baeg Applied Robot Technology Division KITECH

ISBN: (纸本)9781467304290

Object pose estimation is a fundamental problem for a robot when manipulating an object. In this paper, we propose a method for estimating the pose of an object using a 2D image and a 3D point cloud. The Speeded Up Robust Feature (SURF) descriptors between the model image and input image were used to match the keypoints. The pose of an object was estimated using the 3D points corresponding to these matches. To produce more accurate results, the outliers were removed from these matches using Random Sample Consensus (RANSAC) and the result was refined using the Iterative Closest Point (ICP) algorithm. The experimental result demonstrated the high efficiency of our method.

关键词： six degrees of freedom two dimentional images pose estimation Sensor fusion outliers robot

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Design and control of a dexterous micro manipulator for the accurate miniature electro device assembly

Design and control of a dexterous micro manipulator for the ...

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SICE Annual Conference

作者： S. H. Ryu B. J. Choi T. C. Phung J. C. Koo S. D. Park S. M. Lee H. R. Choi Department of Mechanical Engineering Sung Kyun Kwan University Suwon South Korea Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

For the assemblies of miniature electronic or optic devices, precision micro manipulation for the accurate alignment is one of the principal challenges. Noting the mechanical misalignment of those precision devices normally results in failure of device functionality, it is necessary to develop an efficient tool for the identification and correction of the problem. Since the corrective activity of those devices usually accompanies some level of plastic deformation, a proper identification of force and deformation during the operation might be essential. Besides, since most of the devices have very dense population of tiny parts spread and arranged in a two-dimensional surface, during the corrective operation maintaining accessibility with a clear path would not be straightforward. Designing process of a manipulating system that accommodates these specific requirements is presented in the present article

关键词： robotic assembly Manipulator dynamics Strain measurement Force sensors Optical devices Plastics robots Control systems Actuators Design optimization

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An Effective Kalman Filter Localization Method for Mobile robots

An Effective Kalman Filter Localization Method for Mobile Ro...

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2006 IEEE/RSJ International Conference on Intelligent robots and Systems

作者： Sangjoo Kwon Kwangwoong Yang Sangdeok Park School of AeroSpace and Mechanical Engineering Hankuk Aviation University Goyang South Korea Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

An effective Kalman filter localization method for mobile robots is investigated in terms of the robust Kalman filter with perturbation estimator. In the recursive algorithm, the perturbation estimator produces equivalent perturbations with respect to the nominal state equation and the action model of a mobile robot is adaptively modified with the perturbation estimates. The integral control property of the perturbation estimator enables a great reduction of the localization error, specifically when the odometric disturbance is large. The Kalman filter recursive equations including predictor, corrector, perturbation estimator, and the corresponding covariance propagation equations are formulated systematically. The effectiveness of the proposed scheme is verified through simulation and experimental results for a wheeled mobile robot

关键词： Mobile robots Recursive estimation Robustness Integral equations robot sensing systems Electronic mail State estimation Gaussian noise White noise Estimation error

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Robust mobile robot localization with combined Kalman filter-perturbation estimator

Robust mobile robot localization with combined Kalman filter...

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2005 IEEE/RSJ International Conference on Intelligent robots and Systems

作者： SangJoo Kwon KwangWoong Yang Sangdeok Park Youngsun Ryuh School of AeroSpace and Mechanical Engineering Hankuk Aviation University Goyang South Korea Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

ISBN: (纸本)0780389123

In this paper, a robust localization method for mobile robot based on the combination of Kalman filter and perturbation estimator is presented. It remarkably enhances the robustness of localization performance, specifically when large odometric errors are occurred. The perturbation estimator in the combined Kalman filter (CKF) is to estimate systematic errors which perturbs the behavior of nominal state transition equation. Intrinsically, it has the property of integrating the innovation, i.e., the difference between measurement and predicted measurement and thus gives a chance of more reducing the gap between real states and their estimates. After formulation of the CKF recursion, we show how the design parameters can be determined and how much beneficial it is through simulation and experiment for a two-wheeled mobile robot under indoor GPS.

关键词： Robustness Mobile robots Kalman filters State estimation Service robots robot sensing systems Equations Global Positioning System Aerospace industry Technological innovation

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RIC (robust internal-loop compensator) based flight control of a quad-rotor type UAV

RIC (robust internal-loop compensator) based flight control ...

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2005 IEEE/RSJ International Conference on Intelligent robots and Systems

作者： S. Park D.H. Won M.S. Kang T.J. Kim H.G. Lee S.J. Kwon Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea School of AeroSpace and Mechanical Engineering Hankuk Aviation University Goyang South Korea

A QRT (quad-rotor type) hovering robot system is developed for quick detection and observation of the circumstances under calamity environment such as indoor fire spots. The UAV (unmanned aerial vehicle) is equipped with four propellers driven by each electric motor, an embedded controller, an INS (inertial navigation system) using three rate gyros and accelerometers, a CCD (charge coupled device) camera with wireless communication transmitter for observation, and an ultrasonic range sensor for height control. The developed hovering robot shows stable flying performances under the adoption of RIC (robust internal-loop compensator) based disturbance compensation and the vision based localization method. Although a model is incorrect, RIC method can design a controller by regarding the inaccurate part of the model and sensor noises as disturbances. The UAV can also avoid obstacles using eight IRs (infrareds) and four ultrasonic range sensors. This kind of micro UAV can be widely used in various calamity observation fields without danger of human beings under harmful environment.

关键词： Robust control Aerospace control Unmanned aerial vehicles Communication system control Control systems Charge-coupled image sensors robot vision systems Fires Propellers Electric motors

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Inverse kinematics for control of JINPOONG

Inverse kinematics for control of JINPOONG

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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Jin Tak Kim Jung San Cho Byung Yun Park Sangdeok Park Korea Institute of Industrial Technology Ansan-si Gyeonggi-do Republic of Korea Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan-si Gyeonggi-do Republic of Korea

JINPOONG is a platform that has been developed in order to move an uneven terrain as quadrupeds. Each leg was designed to have 4 degrees of freedom to utilize a broad workspace. A solution of inverse kinematics of this system was found out using the closed form solution, considering motion control of JINPOONG. Therefore, this paper explains the calculation method of the inverse kinematics for the motion control of JINPOONG. The performance of the calculation method was demonstrated in simulation using MATLAB.

关键词： Joints Kinematics Legged locomotion Trajectory Closed-form solutions

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Controlling redundant robot arm-trunk systems for human-like reaching motion

Controlling redundant robot arm-trunk systems for human-like...

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2010 IEEE/RSJ International Conference on Intelligent robots and Systems

作者： Tapomayukh Bhattacharjee Yonghwan Oh Ji-Hun Bae Sang-Rok Oh Cognitive Robotics Center KIST Seoul South Korea Department of Applied Robot Technology Ansan Research and Development Center Ansan South Korea

In this paper, we have developed a novel control law to exhibit human-motion characteristics in redundant robot arm-trunk systems for reaching tasks. This newly developed method nullifies the need for the computation of pseudo-inverse of Jacobian while the formulation and optimization of any artificial performance index is not necessary. The time-varying properties of the muscle stiffness and damping as well as the low-pass filter characteristics of human muscles have been modeled by the proposed control law. The newly developed control law uses a time-varying damping shaping matrix and a bijective joint muscle mapping function to describe the human-motion characteristics for reaching motion like quasi-straight line trajectory of the end-effector and symmetric bell shaped velocity profile. The aspect of self-motion and repeatability, which are inherent in human-motion, are also analyzed and successfully modeled using the proposed method. Simulation results show the efficacy of the newly developed algorithm in describing the human-motion characteristics.

关键词： Joints Muscles Humans Trajectory robot kinematics Solid modeling

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A new calibration method and experimental study for kinematic parameters of industrial robot

A new calibration method and experimental study for kinemati...

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2020 International Conference on Artificial Intelligence and Electromechanical Automation, AIEA 2020

作者： Zhao, Honghua Zhao, Jian Lin, Yifei Han, Qifei Chen, Mianpeng University of Jinan School of Mechanical Engineering Jinan China Shandong University School of Control Science and Engineering Jinan China Shandong Institute of Intelligent Robot and Applied Technology Jining China GSK CNC Equipment Co. Ltd. CNC System R and D Department Guangzhou China

ISBN: (纸本)9781728182889

The accuracy of industrial robot kinematics parameters directly affects its absolute positioning accuracy. Based on Modify Denavit-Hartenberg (MD-H) kinematics theory, a more accurate calibration method for kinematic parameters of industrial robots is proposed in this paper. It takes the kinematics parameters, deceleration ratio and coupling coefficient of the robot as error parameters to establish the error model. The calibration experiment and accuracy verification experiment are designed by laser tracker. After the introduction of the reduction ratio and the coupling coefficient calibration, the absolute positioning error of the robot in all directions has been greatly improved, and the overall average accuracy of the robot is increased by 91.42% compared with the uncalibrated, and is increased by 81.02% compared with the without introducing the deceleration ratio and coupling coefficient. © 2020 IEEE.

关键词： Kinematics

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