임성수 교수

We introduce a new formulation of the time-delay command shaping filter using a commuted shaping order approach, which leads to the development of a simple and effective adaptive command shaping technique for both single- and multi-mode cases. The authors derived the conditions that the time-delay command shaping filter should satisfy to suppress the residual vibration. From the conditions, they calculated the minimum number of command shaping filter terms required to completely cancel the resid

Since its introduction, the command shaping method has been applied to the control of many types of flexible manipulators and the effectiveness in the vibration suppression has been verified. However, designing an effective command shaper requires a priori knowledge about the system parameters. Recently, some efforts have been made to make the command shaper adapt to the changes in the system parameters. In this paper, the indirect and the direct adaptive command shaping methods in the time doma

This paper is a report on the initial trial for its kind in the development of the performance index of the autonomous mobile cleaning robot. The unique characteristic features of the cleaning robot have been identified as autonomous mobility, dust collection, and operation noise. Along with the identification of the performance indices the standardized performance-evaluation methods including the corresponding performance evaluation platform for each indices have been developed as well. The val

Since its introduction, the command shaping method has been applied to the control of many different types of flexible manipulators. A properly designed command shaper cancels the resonance poles of the system regardless of the given reference input to the system. However, designing an effective command shaper requires a priori knowledge about the system parameters. Recently, some efforts have been made to make the command shaper less sensitive to the uncertainty of the system parameters and to

Comand shaping, a feedforward approach used to control flexible manipulators, performs most effectively when applied to a linear system. In practice, various nonlinearities are present in a given system that will deteriorate the performance of command shaping. In this work, a multirate repetitive learning controller (MRLC) is used in conjunction with a command shaping method known as the optimal arbitrary time-delay filter (OATF) for discrete-time joint control of a single flexible link manipula

With the development of robot technology, robot utilization is expanding in industrial fields and everyday life. To employ robots in various fields wherein humans and robots share the same space, human safety must be guaranteed in the event of a human-robot collision. Therefore, criteria and limitations of safety need to be defined and well clarified. In this study, we induced mechanical pain in humans through quasi-static contact by an algometric device (at 29 parts of the human body). A manual

With the growing demand for robots in the industrial field, robot-related technologies with various functions have been introduced. One notable development is the implementation of robots that operate in collaboration with human workers to share tasks, without the need of any physical barriers such as safety fences. The realization of such collaborative operations in practice necessitates the assurance of safety if humans and robots collide. Thus, it is important to establish criteria for such c

SUMMARY This paper summarizes the recent standardization activities in the field of robotics by ISO (International Organization for Standardization), IEC (International Electrotechnical Commission), OMG (Object Management Group), and other organizations. While the standards in industrial robots have been mainly developed by ISO, the standards on the emerging service robots are initiated by many organizations. One of the goals of this paper is to coordinate the efforts among these groups so that

Since its introduction, the command shaping method has been applied to the control of many different types of flexible manipulators and the effectiveness in the vibration suppression has been verified. However designing an effective command shaper requires a priori knowledge about the system parameters. Previously, some efforts have been made to make the command shaper adaptive to the changes in the system parameters. In this paper we introduce the generalized time-delay command shaper and analy