권동수 교수

A manipulator system with a large workspace volume and high payload capacity has greater link flexibility than do typical industrial robots and teleoperators. If link flexibility is significant, position control of the manipulator’s end-effector exhibits nonminimum-phase, noncollocated, and flexible-structure system control problems. This paper addresses inverse dynamic trajectory planning issues of a single-link flexible manipulator. The inverse dynamic equation of a single-link flexible manipu

The initial prototype of the proposed robot showed the possibility of advanced endoscopic surgery with improved payload capability.

An inverse dynamic equation for a flexible manipulator is derived in a state form. By dividing the inverse system into the causal part and the anticausal part, we can calculate torque in the time domain for a certain end point trajectory, as well as trajectories of all state variabls. The open loop control of the inverse dynamic method shows an excellent result in simulation. For practical applications, a control strategy adapting feedback tracking control to the inverse dynamic feedforward cont

Abstract This article presents a novel adaptive bilateral control scheme for obtaining ideal responses for teleoperation systems with uncertainties. A condition that is equivalent to getting an ideal response in teleoperation has been found to be making the closed‐loop dynamics of master and slave manipulators a similar form. An adaptive approach is applied to achieve similarity for the uncertain master and slave manipulators. Using the similar closed‐loop dynamic characteristics of master/slave

This paper introduces an emotion interaction system for a service robot. The purpose of emotion interaction systems in service robots is to make people feel that the robot is not a mere machine, but reliable living assistant in the home. The emotion interaction system is composed of the emotion recognition, generation, and expression systems. A user's emotion is recognized by multi-modality, such as voice, dialogue, and touch. The robot's emotion is generated according to a psychological theory

This paper presents the mechanism and surgical method for ARTHROBOT, a new surgical robot for hip arthroplasty. The robot is femur-mountable and capable of 4-DOF motion. It uses a new gauge-based registration method that utilizes measuring instrument consisting of a reamer-shaped block gauge and a distance-measuring device. This gauge-based registration method drastically reduces the processes in the preoperative planning by eliminating the need of inserting fiducial markers or CT scanning. From