The development of robotic system for the nuclear power plants

KAER I/CM-018/95

sMi A|â 7imThe Development of Robotic System for the Nuclear Power Plants

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A Study on the Manipulation of Teleoperation System Using Redundant Robot

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DISCLAIMER

Portions of this document may be illegible electronic image products. Images are produced from the best available original document.

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SUMMARY

I . Project Title

A Study on the Manipulation of Remote System Using Redundant Robot

In this project the following 4 sub-projects are studied.

1) Development of Precision Control Method for the Hydraulic

and Pneumatic- Actuators

: Design of the fuzzy gain tuner for the pneumatic servo position

control system with the state feedback controller

2) Development of an Universal Master Arm and Force Reflecting

Teleoperation System

: A Study on the Autonomous Teleoperation System

using a Universal Master Arm

3) A Study on the Analysis and Control of the Redundant Robot

: Path Planning of 8-DOF Redundant KAEROT for the Nozzle Dam

Task and Experimental Study of Dynamic Control Algorithm for the

Redundant Robot

4) A Study on the Robot/User Interface Design

: Emphasis on the Development the final design solution for the

Robot and the Console Design

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II. Objectives and Importance of the Project

For all sorts of tasks under extreme situation such as high

radioactivity territory, the manipulation using remote system is inevitable

because of radioactive contamination. In particular, nozzle dam task of

steam generator urgently requires the application of remote robot system.

In order to design, construct, and practically use the remote system,

technology development in the broad fields is required. Among these,

the following fields are of great importance.

- development of manipulator performing task

- precise robot control technology

- effective communication technology of task environment

information to operator far apart

This study is devided into 4 sub-projects : The purpose and

importance of each sub-project are as follows.

1) In recent years, pneumatic actuators have been regarded as valuable

and economic systems for driving low power robot manipulators or

remote operating systems. However because of the frictional effects

of pneumatic actuators and compressibility of air, precise controlled

actuator velocities or precise positioning control with pneumatic

systems are not easily obtainable. In order to improve control

performance, it is needed to investigate frictional characteristics of

pneumatic actuators and to develop appropriate controllers which

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compensate the nonlinearity due to actuator friction effects and

compressibility of air. In this study a three state feedback controller

with position, velocity and acceleration feedback which is especially

feasible for linear motion pneumatic position control systems is

used. Because high nonlinearties of pneumatic systems make manual

gain tuning of the controllers fairly difficult. It is necessary to

develope automatic gain tuner. Objectives of this project are to

understand the basic characteristics of pneumatic actuator and to

develop pneumatic position control system using a control scheme

^ which improves control performance and repeatability.

2) The objective of this study is to enhance the teleoperation

performance using visual force feedback. The implementation of

visual information feedback may effectively accomplish precise

telemanipulation. In this regard, three control methods are

presenteed, namely traded control, hybrid control and shared control.

These control methods are implemented as a human command

controller and a visual force controller.

3) For the various tasks such as radiation decontamination, failure

overcome, and nozzle dam task in the nuclear power plant, accurate

control of robot is needed without damage to other equipments. For

these high dexterous manipulation the use of redundant robot is

required. In order to use the redundant robot effectively, optimal use

of redundancy and efficient path-planning and control algorithm

have to be developed. The purpose of the 3rd-year study is to

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improve the algorithm proposed in the 2nd-year study and to find

the optimal joint path for 8-DOF KAEROT(Korea Atomic Energy

Research Institute Robot) whcih had 7-DOF in the 2nd-year study.

It is also another purpose to verify the effectiveness of the propsed

dynamic control algorithm by using experimental study applied to

planar 3-DOF redundant robot.

4) It is important to consider deliberately the harmony of the Robot and

its Console table in order to enhance the usability of the system.

The design of equipments which harmonize form with function can

be created by considering the hardware attributes (performance,

function and others) as well as the software attributes (interface,

usability, and others). This study aims to design a multipurpose

Robot and its Console table which can be used at a nuclear power

plant.

III. Scope and Contents of the Projects

1) For the learning stage of expert knowledge, in the pneumatic servo

position control system with a state feedback controller, the change

of response characteristics of the system was investigated as

gains(Kp, Kv, Ka) and operating positions are varied and

experimental method of gain tuning was found. The Knowledge

base which is based on the learned knowledge was established by

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means of the fuzzy theory, and a fuzzy gain tuner was designed for

gain tuning. Experiments were made to verify the performance of

the designed fuzzy gain tuner. The fuzzy gain tuner was designed

for 2 functions. The first function is to maintain the optimal

gain-set which obtains satisfactory response for slow changes of

system parameters. The second function is to find the optimal

games by inference from learned results when the position control is

executed at an unlearned position. In order to confirm the first

function of the proposed Fuzzy-gain tuner, experimental trajectories

of the gains starting from arbitrary points in the Kv, Ka plane are

shown, which converge to optimal gains. It was also shown for the

second function that the Fuzzy-gain tuner finds the optimal gains

when the positioning of the system is controlled at arbitrary

unlearned positions.

2) In this study, a telerobotic system is configured as a 3 DOF

articulated type force reflective master arm and a 6 DOF vertical

articulated type slave arm. For the force reflective control of the

telerobotic system working under the uncertain environments, a

shared control algorithm is implemented. To optimize the force

reflection characteristics, the compliance gain and the force reflective

gain are autoselected using neural networks and fuzzy logic. Also,

to accomplish added autonomy and precise manipulation, three

different control algorithms are developed for visual information

feedback into the force control loop. The performance of the

—17—

developed system is verified through a series of experiments.

3) 8-DOF KAEROT is analyzed kinematically. The algorithm proposed

in the 2nd-yaer study is improved in the following 2 ways'- how to

find working set exactly and how to consider weight-value of

joints. When carrying the nozzle dam, an optimal joint path is found

to avoid obstacles and joint limits and to optimize the given

performance measure while performing the main task by using 2

degrees of redundancy. In addition, dynamic control algorithm is

applied to experiment of planar 3-DOF redundant robot and thus its

effectiveness is verified.

4) The scope of this study is developing a set of final design of the

Robot and its Console table. All design activities have to be based

on maximizing the instrumental view such as stability, maintenance,

usability, and etc. It also has to be considered the cognizant value

i.e. as aesthetics , symbolization, and etc. A Robot design has been

developed through following processes. ; Analyzing design criteria,

Generating design ideas, Developing design alternatives, Selecting

final design solution and detail design, and Developing graphic

elements and color scheme. Processes for Designing Console table

comprise Conceptual approaches, Idea generations, Development of

design alternatives, Detail designs., and others. Two different design

concepts, i.e. aerodynamic concept (alternative 'A'), geometric

concept (alternative 'B'), have been developed. After careful

evaluation, alternative 'A' has been selected and finalized.

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IV. Results

1) A pneumatic servo linear position control system with 3-state

feedback controller is constructed, and the servo valve

characteristics regarding the repeatability in time domain and the

hyteresis are measured. The effects of variation of each system

gain on the system response are studied thorough extensive

experiments, from which professional knowledge tuning for 3 gains

are obtained. It is found in the experiment that optimal gains are

changed as operating positions are varied, so that the Fuzzy-gain

tuner should have a function to compensate the variation of

operating positions. In this study a Fuzzy-gain tuner which tunes

velocity gains and acceleration gains for pneumatic position control

system is designed applying the professional knowledge tuning . It

is shown that the proposed Fuzzy-gain tuner works satisfactorily in

finding optimal gains.

2) Due to the low visibility, precise telemanipulation in unstructured

environment is difficult. To complement on such difficulty, we have

developed an autonomous telerobot system with a vision based force

reflection capability. To effectively implement visual force feedback,

three different control methods are developed.

3) By using 2 degrees of redundancy of 8-DOF KAEROT, an optimal

joint path has been obtained, which can avoid obstacles and joint

limits while carrying nozzle dam in the steam generator. The task

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environments including KAEROT, nozzle dam, and steam generator

have been constructed graphically in the workstation computer by

using ADAMS modelling/animation Software tool. The animation

results using this tool have verified the safety of the joint path.

The path-planning algorithm proposed in the 2nd-year study has

been improved in the following 2 ways: firstly, the method to find

working set is improved so that the stability of the whole algorithm

increases; secondly, through considering weight-values of joints, the

metric unit problem is remedied and it becomes possible to move

specific joint more efficiently. In addition, dynamic control algorithm

for redundant robot has been applied to the experiment of planar

3-DOF redundant robot and has been verified to be effective.

4) As a result of such efforts, a set of Robot and its Console table

design which has a distinctive corporate product identity has been

accomplished. The Robot is designed to be emphasized the

aerodynamic shape and clean color combination of silver grey and

some accent colors including bright blue. Similar considerations and

color combination have been applied to the designing of console

table so that a metaphorical identity of the system can be achieved.

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V . Proposal for Applications

1) In the application of pneumatic position control systems to a remote

operating system in an atomic reactor, we may obtain good control

performance. Because optimal gains may be obtained applying the

fuzzy gain tuner proposed in this study to pneumatic servo

positioning systems. The results of this study on friction

characteristics of pneumatic actuators, parameter sensitivity, and the

proposed fuzzy-gain-tuner compensating nonlinearties of the

pneumatic systems could be applied to the design of remote

operating systems in atomic reactors.

2) These proposed algorithms may proven to be an effective operator aid

in enhancing teleoperation performance under uncertain environment.

3) The proposed path-planning algorithm can generate optimal joint path

with less time than human operator using graphic tool. In addition,

the graphic/animation tool constructed in the 3rd year-study can be

a good tool to confirm the safety of joint path before applying to

the real task for nozzle dam installation/detachment. It is also

possible to use the proposed control algorithm as a real-time control

algorithm.

4) For the next research, a geometrical form, which has been classified

as 'B' concept, can be apply to the Robot system which will be

developed in the future. A study mock-up has been developed to

identify the possibility in a clear form.

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4 44 #44-8-4 4-# 4#44 4? 4 4-8-# #7} 751 #7# 4^#4 #4 -2-7 4 7 #4 777 #4 74# 7 SI^le-S ##714#- =4^44 #

7## Loading, Clamping, Unloading#- #7 #4# 7}##4 ^4 4-8-##.

#7i# 7#7] 4 #4 ##-# 7747 ## 74# #44 ait 7}## # 7 744 #4#J% 47 #5i(i m/s44)# ^ 7# $£#. 4#4 74# 7

747 #7 #47717} A7#7 #74 #4##. m# #4 777 74#

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7 #4# ##4 7}7#4 #h# 444 72=# #4 7747* 44# 7

7} #7# 7}## oi# 74-4 747 #77 ##447 77 #447 7#

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51## 7# 4^#7 4# 4#44 7s, 2 #444# 74444 #7

-29-

44 4^# 4s4 **45. 4# 44 44444. 44* 44 4* *4 4^34 444 4*45 ##45 444 *\il 4^44. 4-4-4 a-)j£_ A]^ 34 444 444 #s 545 3** 444471- *4455. 444 4144

4.44441s. ^4# a>^-4-uS ^-7)4 4445.5. 444 M444 44

44 55}5 4^.444 4-bH ^44 44#3 444 4444 4444 4 ^445.5. 444 4444# 444 # 4#4 #7>4 ##4 44^(gain set>5-5.# 444 4444# #3447} 4#4. 5E4 *3**44*44 44 4#4 # #44 4#### #4 #44# ^4-*3(stick - si ip)444 4# 4434s 44# 434 4# *4*4 4444.

# 44# 3 44 44 4471(3 state feedback controller)# 4*4#

#34 #5. 4444 4#34 44^44 4*7} 44# 4#44 A4 4454* 4-*445 #44 ## 444 #5. 444 #44 44

4*4 4= 4# Til4^1# 4## t 4s# 455.4 f 3 a15. 4^4 4444 4444* #3# * 3s# 4^4 44.

— 30—

1.2

#1 4^1# 4## 4444# 1959k! Shearer4 444 4 =

445-4 n# #4-4 ^4 «@^4 #g#g

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4## a#4.80444 454 1#4# 444 4#44 444 #4 #4-4 a-]^. x\ +

44 444 44-4 4 #7} 44471 44444.

Mannetje# H4 44 4 (Pressure Feedback Control )5L Aj ^3)-^

4 4 (Bandwidth)# 4441 2 4## 144 44# #44 5.514.™

Moore4 Weston# #4 4-5 4^14 444 Stir 4-§-44 !4,#£,

7V#£4 3 44# 4#44 4444# 4^54 4^1# 44445 144

4#44# 4-§-4-5171 n^o\] 4#44 444 447V 1444.[n,[12]

H.S.Cho, C.W.Lee# PM147!# 4-§-45 dead band, pulse band# 5-14

4 modified on-off controller# 4#44 44^(14# #44515. pulse

modulated valve ^ pulse band ratio7} stability^" rising time°ll 44# 4

4# 5#45l5Cl3] S.G Lee# PI 4444 #44 PWM# 4-§-4-4 on-off 1

ti# #4445-5.4 4444 ^ 44444 4# 4?# 4554.[14]

T.N.Huu# 45-15# 4#4# #4- 4^1# #444 4444# #4

4535[1S] Virvaio# 444 5.15. #4 444 4-4 444 4#4## 4

444 444# 44# £7}) 455 #4 44# #44 £14 ^ 4^1 444

47V 5-#44.[16]

-31-

Pu# Wes tone #*9M* 4444 l#* 44495[171 Manabe

4 Miyazaki* *955.5* # 414 #(quasi linearization)# 514 4#9|

4* 4-8-494.^

0. Ohligschlaeger* 14.9* 5## *9 4—14 4## 44495

partially polytropic mode Hr 919494.[191

M.J.Karie y#)# 15* 4*# *9##4# #4444 3 #9) 91# 4

44* 4*45 ** 91# 4*#* ##44* *44 544* m#**

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400mm4 44 9*49: o.45a 44444 l.Oa 444 44* 99#.[1]

J.J.Hong* M.j.Kari4 44# 4^4## 43:4444 4* *7114 on-

off^* 4-8-4# 4^4 9*45 15* 711914# #155 VCBCValve

Changing Band)* 4444 449)4# *1495# 44 45:9)# 444#

*9494.^

Y.w.Jeon# 3* #44 4*4# *9#n 71)914 *4-15* 4-8-44 24

# #44444 449)4* *#494.[3] S.H.Choi* 7)19)4 *915*

4-8-4* *9 #4414 4^g# *4#^ 3 491 ^|# 9)444 *541##

7>*5 7)144 4# 44 7)1# 544# 9-8-494.f4]

Yuan.Lu[20]e *9 on-off 15* 4*44 *94^14 949)9* 49

5 A.Klein* 3 #9) 91# 9)44* 4*4 9*9 4^14 #49)44 44

41# 544* 4-8-44 37M 919# 4*544 ## 94* 495# #4 #44 4# jl#* 44 9r94.[211

-32

1.3 #9- ^-8-

44 4*7> 4#4 ** 4412, 3 #31 31# 3144(3 state feedback controller)* #*# *# 4^- 44314 42444 4424- 3l3l,*£ 31 y,7>^£ 3131 #4 4§H 444 44444 4^31 44* 7>* 4-4-42 4*44 (##44- *£4)44-4 4# -§-4444 #4£ ##4^a 442 2 44 37>4 t1]44 244* 444 4442i2 4#4 444.

**# 444 44—S. 44 4#4 £444 7]4 3) <3 >i(knowledge base)* 444:2. 711444(gain tuning)4 44 44 7114 547l( fuzzy gain tuner)* 44143*4.

4414 44 7114 £444 444 4444 44 444 t4444.44 7114 244# a7i] *71-4 44-* ^44£4 44444. 4*1 4

44 #444 £444 44 44#4 2442 *4 44 £4 244 44

44 3 44 44 4444 3l3l#(gain set)* 44 31313122 tlAl?J 4 £4 ^4 444 444 4*44 4-4 #3:# *## 4# * 4* 4444# #44-* 444 *44 4** 4*44 &* 44444 44* # 4* 4 4**4 **# 44 #2 4# 4444 44 4*4 44-2 *4 ### *4-4 2 *#4 #* 444131# #44* 444.

44 4131 2444 444 4*4 4*# 4444 444 4471144 44 444 71144!# *2 44 31314122 *44) 7>* 44# 44422 £44.

*44 4*4 4*# £4 444 44 4*4 444* 4# 44* 42 ^o)l 4422 *2 a 44444 447)131# #4-4-* 44# #314-534-.

-33-

2 -MW*1 716- -MS

2.1 -MSS-j#

Pressure DirectionalServo ServoValve Valve

GAS LA85Pneumatic cylinder

iimiiiinniiiiiiiiiiiinimiiiiiiiHiiimiiiiiiiiiniiiiiiiiiiiiiiiimiSensor 2 Linear scale Sensor 1

Voltage to Current

Converter Fluid Power j _ = |KAIST I *.......-I

Timer/countermodule

D/Amodule

A/Dmodule

=1%2.1 94 4^- 49944 94s

^92.19 9 99# 4)44 944 94 4a. 4^94 7l)4£44 aXI

94 9M #4 99, as)a 42:44 99as. 9444 44.

3 way/2 position 494 94 4^ 4)4 4—Ea4 9444 494"

49 37|-44 is. 3:44 7>^44.[5]

(1) 4944 4^-4^ + 9444 4^4a

(2) 4444 4^.#& + 4444 4J14^-

(3) 4444 4&#^- + 9944 49.#^.

-34-

44 ** S33433 -0^44—Eas: *444 ^14# 4 444 4*4

S144 *4* 4-B-4 44.

(1) 4444 *1313 + 4444 4313

14433 44 44 4-8-*# 134 3444. 4 4^14 *4* 4

4^34 <g-^oil 44 4# 43.7]- &7] 1*4 *44*4 44 ^44

44 44 *314 44 44 447} 44# 444. * 4-44^4^ €■ *

444 44:44 444 14444 ^#7] 4 4= n 144 **44 14

444 434 #44 444 444-3 4# 4^14 44444 4444

44=* #4. 44 4-4 4t4 44 *# #3 3444# state Feedback

Controller4 44-4 It#0]* Robust Controller4 44-4 4-4 444.

(2) 4444 A] 313 + 4444 A] 313

4 S34 34ir 4-8-44 *** 443 4s4 4# 44 Si4. 4^1

4 *4* 13 4-1°)] 44334 444 44 44 #37]- 44 4-4 4#4

44J-S t 44# 44 4^14 4**1 447} 4It 44# 444. 4

?44^S44 44 444 4*714 <# 33 44 4 44 444 4^4 #

7]4 *433 44 444# 44& 1344 44# 314 44334 34-I

# t7]- 44. 44 *4 4]#4 4 13 3444 State Feedback Controller

4 4-8-# # 4444 * 4*41 44* °)7] 444. 344 44 1# a]

314 TDC4 4* Robust Controller* A}*41 4444 44# #4 t 4

3 3* 13 344 44 44 # 44 *44 Robust Control ler4 4*4

44 44 T a# a]314 *444* 43 44*4.(3) 4-444 4 313 + *414 A} 313

4 1334-4 *4* (1).(2)13 344 *4:44 *4* 7]43 443

*1 t Si*. * State Feedback Controller0)] 4 S3 34"* A]~g-4: a] 3

1* 44- #1 444 4314 *44 #<*]*] *44* *4* ** f *

-35-

#. 434 5314 ##4- ## 3## 3# T 3#. * TDC4 3* Robust

Controller# 4*3 4314* *3#*7l4 4 55! #34 3414 4

515# 4444 4^14 4444 *7> 442. 4^ 44 4=71 ## 444

1 0)144 444 4444 444 4#444 4# 54#:#.

5.4 State Feedback Controller # 4444 #5H# 44^14 4515

4 44*114 4545# 4444 4344 4^14 4444 4444 44#4# 45# # # 44. 4 3*14* 3 State Feedback Controller#

4444555 154 545 53 2.1144 44 (3) 4414 4515 +

44144515# 4#454.

2.1.1 ^ ^

444 44444# GAS LA85 44 4 444# 444 544(linear scale)# 4414 4515(532.3), 4414 4515(532.4) 54 5 5 14a# 514a# on-off!5# 43-45 4# 4344. # 3*14* 514 a# 4##4 33#.

*3**45 4444 7>3 §4 4-##* 455 434# 44# #44 1 45#4 #5444 45# 554 444# #4# 44 !#! 4344 **44 434 *4* 4#55 4144# 4-44. 444 14* #1# 15 444 #444 *44 #al 4444 *44 515 4,#44 4* » #5 144 34.

4# 4544 GAS LA85 134# 55l*i(rodless) 134455 134 ^555 (cylinder stroke)! 144# 443# 44#3# #1 *7} $%545##44 444 444 4344 #*44 434 *4* 4#55 14 4# 7>#55 4444 514 3344 334- #34 *33 *4* 53#

— 36—

^ 7>x]3L o^4.

4 1444 7^# 444AL $14. 4^#444 Steel belt?} 4144 %U 144 444 4fe £S?l|t #44 Carriage^ 4144 %1

4. 1444 444 #444 44^4 4#& 4^ ^ 4* Carriage?} 4 n4 ir#i: 4# ^21 44 44. 4&^l?i4?} 600mm, 4^5-111: 21.6 mm44 ##44 6bar44 4^r 220N44.

Carriage RollerRoller Steel belt

Piston Slide bearing

:%42.2 GAS LA85 Rod less cylinder

-37-

n^2.34 ^€2.4# 44 #.£#.9. (Pressure Servo Valve : PSV)4 #4=4] 4 ^"j-S-’S^-CDirectional Servo Valve : DSV)4 -p-SIr 4-4# #44.

# ##4 #5.# nozzle-flapper# First staged Valve housing,spool4

Second staged #444 $1# 2 stage type<44.

n€2.3# y-ej^M #4^47>4# ### #4^5. 4#

44 ^#4 4-##4(i# #4)# #444 44

(24 44)4 #44 4h#44 ^#4 #^M1 ^#4^ 14 44

4 h]h444 €4# 444 ^#€ 444 ^=#4 ?M* 4444 #444

€444.rz42.4€ 4*9=414 45.10.# 3 way/2 position H444 ##4(44

1.5W)# #7144 0>4s.n 4445:4 4^144 7B4I44 nominal

power7} 4= 1 KW444 #4-4^4# 44 ### 4= 44. #444 44#

nozzle-flapper4| 444 1# €4-5-3. 441# 444 44 44- ^

# #44 ^244# 4#44 ^#4 €4# €4# 44& 444# €44

4.4 f ##4 Waa# #7]# #€444 44 ###€# 4 #4- 44

444 444 4#4 #444 4^4 44 ### 0 mA 4# 44 100 mA## 4## 44 4#)### 500 l/min44.

-38-

~6£~

T-& iklh to(ASa)-nB"Sk tolkMn vz^n

H V d

-kth k(ASd)w#wk Mkh-R> s'Z&tz

d V d

2.1.2 4^ ti U

#4-8-i4 #4444 444 ^1-9(linear scale)44. 444

4 #4## 0.005mm»]JL GAS LA85 41444 4444 214". 4"4#4^

FESTO 4 SDE-10-5V/20mA ( Piezo-resistive element as relative pressure

sensor)44 0-lObar42 #4444- Obar 44 IV, lObar44 5V

431 4##^# 100Hz, #444£(Accuracy)# +0.5 % Full scale44.

2.1.3

4 5144 ##-4 ‘til 2.4 #7]5)51, Voltage to Current Converter(V/I

Converter), Data aqusition card, Controller44.

v/i Converter# 44(o-5V)As. 4444 em#44 4444# 23MI

444-4 4#5. 4%#4 ## 4^1^-4 44^5. #4 300Hz + 1.25V4

Dither #51# #^444 444^4 #4 #44. v/l Converter4 44 4

4# 444 3144 4&S4 3.42.54 #4.

Data aqusition card4 PCL-814# 4#4%—4 A/D Converter# 44431

2131 Timer /Count er 4 H (PCL-814-TC-1)4 D/A Convet er(PCL-814-DA-1)#

option-2.3. 444214.

-40-

lOkflo—vwv\—°

-15V+ 15V

OffsetValvelOkA 10kA

LM741

Dither LM741 2N5320

o + 5V20kA

—VWW—Wh—30kA

NE555

3^2.5 V/I Dither $.$. ^^7]

• A/D Converter^] 7.}^

- Channels

- Resolution

- Sampling rate

- Accuracy

- Input impedance

- Input range

16 differential analog input channels

14 bits

100 kHz maximum

0.003% full scale range ± 1 LSB

10 MO °ltf

0 — 5V (setting)

-41-

• D/A Conveter(PCL-814-DA-1)4 Aj-<$

- channels 2

- Resolution 12 bits

- Voltage output range 0 - SV(setting)

- Settling time 0.005 sec

- Accuracy ± 0.012% full range

- Linearity ± 1/2 LSB

• Timer/Counter?} = (PCL-814-TC-1)4 a}<£

- Channels Five 16 bit up/down counters

- Device Am9513A

- Input frequency 6.8Mhz (max)

- I/O level TTL compatible

- Time base On-board 1 Mhz crystal

-g-<a-4ji 44 §Efe^ 486PC(i486DX2-66)t- 444

4 444*5—4 Sampling frequency4 200Hz3. 4^45514.

— 42 -

2.2 7]^^

zi#2.64 ^2.7# 44# #44 #444 45154 4^444^ #

4# 74 444. ^#2.6# 444 44# #44 4# #4^44 4

±0.5 %454 4^444^# 544 n#2.7# #44 44# 54 4444

4# 44# zi4 444 4^4 4=^4 444 44 ht-s, saja 5.4-1- 4

4 44. 300Hz +1.25V4 Dither signal# 4444^ 0V44 5V44 #44

4# 4 30021, 4^44# 4 300a# 4#44 444S4. 44 444

2.0 V 4 4 4 2.8bar4 444 #442-5. 44# 4444 45.*4-54 #4

42.5. 4-5 ### 444.

The hysteresis curve of PSV ( 1 time )

Supply-pressure

Down : 5V —> 0V

2 3Voltage ( V )

n#2.6 4444 45-154 4^444^= #45

(Dither Signal:300Hz±1.25V)

— 43-

The hysteresis curve of PSV ( 5 times )

0 ...........................1-------1-------1-------1------- 1-------1-------0 1 2 3 4 5

Voltage ( V )

382.7 8-8314 822.S.04 siatfleHa s.a^(55| 8:4^8)

88314 832.134 48 48 848# ^8 844 8844

48484 ##484 48 31888# 44 443 #88 44

444 44 88# 54 848 444 382.84 382.1044. 382.84

8-8314 432-434 314834 84 884448 318# 843 8#4 ¥

3 888 444 382.104 4331848 888 844.

8-8314 412310-31 48 88# #848(Charging)844 1.8V 48

2.5V5. 8885(3 ##48 (Discharging)8314 2.5V3I8 1.8V3 848^4.

382.84 382.1044 22-4 Oa 44 o.5a 484 8848484 54 84 #84 44* 88844 484.

-44-

PSV : Maximum volume: 5 times

1.8 V -—> 2.5 V

(Charging)'

3.0

2.5 V ■> 1.8 V^ 2.0

( Discharging )

) I I I I I------1— J------1------1------» ---10.0 0.1 0.2 0.3 0.4 0.5

Time ( sec )

n^2.8 5s) )

0.0 0.5 1.0 1.5Time ( sec )

2.0Time ( sec )

^4 zz.^2.94 =l%2.lHc}-.

-45-

PSV : Minimum volume : 5 times

>-2.5 V(Charging)

a 2.5 2.5 V •> 1.8 V

Bh charging )

Time ( sec)

=L%2.10 5^ )

J3i82.il -R-^.

^^^^£(Accuracy)7> 0—10 bar^^ +0.5%(±0.05 bar)<8&

<&%<>] <(H€ 1& 4 O.Olbar0!jl 3L7] <g-^4g*>7>

— 46—

4 0.02—O.OSbar^Ma 4^5.5. 4^44 4MM 444# 44

4 ###4a 44#4.

4444 4MM ^ 4444- M 43)4# ^14 4444 4#4

^#4 #4# 444as #4 IM #44°fl 44# 44444 ^#4 #44# 4### 4444 4444 M# #4## #444 # 4# 4##S#.

4-Ml 4 ysisyy^ #4 #M14 ysisy ^i#444 4# ¥4

444# M 444 CM 44444 ##444 44 4444# 44 4

#a #44 43M144 4# 44# 54 444 444 M2.124- M2.14

44. M2.12# 4444 4MM- 444-a# 4# 444 444 44

# 44s. 4#4 #a 444 444 M2.14# 4# 4444 444 44

4.

44MI4 4MM 44 44# #44^4 (Charging) #41# 1.5V 44 3.5VS 44-4^a ##44(Discharging)#^# 3.5V44 1.5VS 444^4.

M2.124 ^42.1444 o# #4 0.5& 4-44 444444# 54 #4

4 #4# ###44- 444. 444# 444 4444 444 104 44#

44 4# 4 44444 M14-S- #4 44 M2.134 M2.1544.

zi^2.i544 MM14-4 0.05bar4as 4# 444 4M4 s# a

4 4444. 4# 44# #4 4444 #4 Mas. 4444 4MM

#44# 4#3M 4M 4M444 44# 41 a #44 44 4 444

444 4M 44# 444a 4444 4444 4 a is 4 #44 a 4 a

4 44# 4# ##4 4a 44#4.

-47

(bar

)

DSV : Maximum volume : 5 times

1.5V -■-> 3.5V( Charging )

3.5 V —> 1.5V ( Discharging )

0.0 0.1 0.2 0.3 0.4 0.5Time (sec)

zz.^2.12 1MMIM 3]#-§-#( 3M3M4H 5^ )

Time ( sec ) Time ( sec )

^.^2.13 ti<WM

48-

DSV : Minimum volume : 5 times

ply pressure

1.5 V--> 3.5 VCharging)

5V - > 1.5VDischarging.

0.0 0.1 0.2 0.3 0.4 0.5Time (sec)

zz*g2.14 4-£-€-9-4 ?l)4-g-4( ^iAflaZoflA) 55) 4444 )

o.o . 0.5 1.0Time ( see)

1.5 2.0 0.0 0.5 1.0Time ( sec )

1.5 2.0

Ziig2.i5 44,#44444 451-1-9-4

zz.^2.164 h^2. 17-8- 4-444 4-£-1-9-4 41-4 4 4 4# #144#

s.7] 41 ^4 44-44 H42.184 zl42.19# 1144 4 ^-1^-4 44 444 44 -3-444& ti-7] 4^ ^4 4444. a) ^4:04- «0v

— 49-

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•-b

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kkkk 3-kMrz^TT k

"nB"S"k klk#& #kB. kkk "kkkk kk-k kkk klb#& kklbk k?k kkkkk #&# kkkir kk# ^-h-k-h kkk kkkfkk k n'li'S'k kkk-k #k Ibkkkk #9i‘z^ir kk^k^io o k ^kk kk kkk kkkk k^#k-k #kkk klbk's "sBi^k klk#

Pres

sure

(bar

) Pr

essu

re (b

ar)

6PSV : Step response : Charging

yC, yOV —5.0 V

upply pressure-----------------

i // / t /

0 V — 2.5 V■

t /i t > >

/ / i t f i

OV — 1.8 V•

/ i.

Dashed : Max Solid : Min

mum volume . imum volume

Time ( sec )

n^2.16 44-§-4( -if “94^ )

6

5

4

3

2

1

00.0 0.1 0.2 0.3 0.4

Time (sec)

H^2.17 4#4^ )

-51-

PSV : Step response : Discharging

iV~—*-5.0 V —— " "T—— |*0 V Dashed : Max

Solid : Minmum volume mum volume

; 1 \\4—-V-^2.5 V -----►O V■

TT T---------

■\K\ ■

■\\ V''^I.8V- — OV

■

■

\

Pres

sure

(bar

) Pr

essu

re (b

ar)

DSV : Step responses : Charging

Dai hed : Maxin ium volume

4.5 V0.5 V-1.3 V -3.7 V2.0 V -3.0 V

Sc lid : Minimum volume

Time ( sec)

n^2.i8 )

DSV : Step responses : Discharging

Solid : M inimum volume v 4.5 V —0.5 V

3.0 V

Dashed : Maximum volume

0.5 V

3.0 V 2.0 V

J .. -■ li J. - - .1 — ■ - ,-L. — i , k,„, .....0.0 0.2 0.4 0.6 0.8 1.0

Time ( sec)

^ 2.19 )

-52-

Time ( see)

Time ( sec)

Velocity (m/s)ov> O in o

Velocity (m/s )

Position (m)

Position (m)

X> 4*- Li_S, JD- Ml§ M -S,' °\° dmoM tip.J2, fk 44

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n (m

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( V/m ) (V/(m/s))

Ka= 1.806 (V/(m/s2) Xs = 0.0 m:, Xe = 0.3 i

Kv = 76.3

Time (sec)

( a )

Time (sec)

( b )

-55-

Time ( sec )

Acceleration (m / s2)i— i—* i h—Vi O Vi O Vi O

Velocity (m/s)O O O O OO ^ On bo O

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4 62.9 1.479 85

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6 85.1 2.001 t—A

7 96.2 2.262 130

8 107.3 2,523 145

9 118.4 2.784 160

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1 100 0.0 0.17 100 : 6.000 : 0.170

2 250 13.9 0.37 100 : 5.560 : 0.148

3 500 26.5 0.68 100 : 5.300 : 0.136

4 1000 52.4 1.30 100 : 5.240 : 0.130

5 1500 77.8 1.85 100 : 5.190 : 0.123

6 2000 103.2 2.34 100 : 5.160 : 0.117

7 3000 153.8 3.80 100 : 5.127 : 0.127

5 3.2 77>#4 44.S.4- 4144 4# 4# 44 4144

-63-

Vel

ocity

( m

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Posit

ion

(m)

Kp = 100 V/m

Kp = lOOOV/m

Kp = 3000 V/m

Time ( sec)

Kp = 100 V/m :

Kp = 3000 V/m :

Time (sec)

— 64-

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— 67—

Time ( sec )

0.104 0.304

0.100 •

0.096 0.296

Time (sec)Time (sec )

( a ) ( b )

0.504

Time (sec)

( c ) 3.8 Ssh 41*1 M

— 68—

0 mm » 100mm

0 mm >> 300mm0 mm » 500mm

Time (sec)

^#4 4

0 mm » 100mm

0 mm » 300mm

0 mm » 500mm

Time ( sec)

3.10 ^44 4# -§-#

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Decisionmaking logic

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Defuzzificationinterface

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PositionOvershoot (mm) Velocity

Overshoot (m/s) AccelerationOvershoot (m/s2)

H44.2 Kv4 Ka#4# 44 4444

Velocity overshoot Acceleration Overshoot

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NB NB NB NB NB NS

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Ka\ NB NS ZR PS PB

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( % : gain/optimal gain)

A>r %&; Kv( V/(m/s) ) Ks< VAm/s3) )

1 1500 10 (12 %) 0.2 (11 %)

2 1500 210 (300 %) 0.2 (11 %)

3 1500 10 (12 <k) 0.9 (500 <i)

4 1500 210 (300 '*) 0.9 (500 1)

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Velocity ( m/s )O O O —V) O Vi O

Acceleration (m/#)

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1.5 0.40

0.44 0.48

0.52Tim

e (sec) Tim

e ( sec )

Position (m)O O O O0© k> W

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e ( sec ) Tim

e ( sec )

Position (m)

Position(m)O © © O OtO tO tO tO U»to ON 00 O

0.35

76-

0.0 0.5

1.0 1.5

0.40 0.44

0.48 0.52

Time (sec)

Time(sec)

Position (m)p P P p P© *» Is) U>

Position (m)poop

9- \

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1.0 1.5

0.40 0.45

0.50 0.55

Time (sec)

Time (sec)

Position (m)

2 -

Position (m)p p p p

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— 78—

Kv: Small Ka: Small

10Iteration

■3 150 Kv: LargeKa: Small

...:

Iteration

0.5 ..... Kv: Small Ka: Small

10Iteration

iv: LargeKa: Small

0 5 10 15 20Iteration

Kv: Small

Iteration

Kv: Large

Ka : Lar8e

Iteration

Kv: Small

10Iteration

. \ .........■ \ : . Kv: Large

ka :Lal*e.. \i................

: : :____ ____ i____ _____ i____ _____ i___ i____

0 5 10 15 20Iteration

n^4.8 f ^4^1

79-

</3 6-

Kv(V/(m/s))

Kv (V/(m/s))

— 80—

5 ## ^ ^ 4^1

5.1

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— 81—

5.2

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-82-

% ul & ^

[1] 44e, 5-44444 444144 44 45”,

^5447] e 4 i!4544 4444 fc-g, 1991

[2] 54#, “4/M #4414 4^E5 544 =l 444144 44 45”,

^5447] #4 ^4#44 4444 Wg, 1992

[3] 4-8-4, “#434 4N#4]444 44444 44 44”,

4544444#44 4444 fe5, 1994

[4] 443:, “#44 4M. 4^4 4444 ^ 414144 4 M W”,

#5444#4 44#44 4444 Wg, 1995

[5] 444, “TDC 4#& 4-8-4 4#4 4^4 44414 ^ 44 4^ 4 444 *04". 44444#4 444-44 4444 8r5, 1995

[6] 444,^-44, “44 44 ^ 8-8- 1,2”, 5#44#44, 1991

[7] J.L.Shearer, “Continuous Control of Motion with Compressed

Air,1,2”, Trans, of ASME, Feb, 1959, pp233~249

[8] Blaine W.Andersen, “The Analysis and Design of Pneumatic

Systems”,JOHN WILEY & SONS,INC, 1967

[9] C.R.Burrows, “Effect of Position on the Stability of Pnematic Servo

Mechanism”, Research Notes in J. Mech. Eng. Sci. Vo I 11 No.6 1969,

pp615-616

[10] J.J.Mannetje, “Pneumatic Servo Design Method Improves System Band

width Twenty-fold” Control Eng, Jun, 1981, pp79~83

[11] R.H.Weston, P.R.Moore, T.W.Thatcher.“Computer controlled Pneumatic

Servo Drives”, Proc. Inst. Mech. Engrs. Vol 198B, No 14, 1984,

PP225-231

[12] R.H.Weston, P.R.Moore, T.W.Thatcher, “Compensation in Pneumatically

-83

Actuated Servomechnisms”, Trans, of Inst. M.C, VoI 7, No 5, 1985,

pp238-244

[13] H.S.Cho.C.W.Lee, “Performance of a modified on-off controller with

PD action for Pneumatic Servomechanism”, KAIST

[14] H.S.Cho.S.G.Lee “On the Development of a PWM Control-based

Pneumatic Servomechanism”, Int. Symp. on Fluid Control and

Measurement, Tokyo, Sept. 1985, pp37-46

[15] Tri Nguyen Huu, “Verbalten servopnematischer Zylinderrantriebe im

Lageregelkreis”, dissertation, RWTH-Aachen, 1987

[16] T.Virvalo, “Designing a Pneumatic Position Servo System” , Power

International, Jun, 1989, pp141-147

[17] J.Pu, R.H.Weston, “A New Generation of Pneumatic Servo for

Industrial Robots”, Robotica, Vol 7 , 1989, pp17-23

[18] T.Manabe, F.Miyazaki, “Tearing Control Based on Function Iteration

Method”, Japan-USA Symposium on Flexible Automation - A Pacific Rim

Conference, Japan, 1990, pp631-634

[19] 01af 01igschlaeger, “Pnematische Zy1inder ant riebe-1hermodynamische

Grundlagen und digitale Simulation”, dissertation, RWTH-Aachen,

1990

[20] Yuan Lu, “Elektropnematischer Positionierantriebe mit schnellen

Schaltventilen”, dissertation, RWTH-Aachen, 1992

[21] Andreas Klein, “Einsatz der Fuzzy-Logik zur Adaption der

Positionsregelung fluidtechnischer Zylinderantriebe”, dissertation,

RWTH-Aachen, 1993

-84-

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91-

steam generate

tubesheettop level of refueling pool .. 3 manway

U (D

closure head removed \instal1

dams

;7-...nozzle dam

reactor-vessel core support barre

Fig. 1 -(a) Diagram of a steam generator nozzle dam

nozzle dam ,

hold down bolts '

uppersection

centersection

lowersectiono o o

Fig. 1 -(b) Manipulator in steam generator

— 92—

Xref

Visualsensor

Controller RobotManipulator

(a) The position-based visual servo system

ref

(b) The feature-based visual servo system

Fig. 1-2 Two types of visual servo system

-93-

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4M4.

-94-

VideoCamera

Monitor

MasterAnn

2 CCD : CameraHuman

MasterController

VisionBoard

Slave Arm Controller

Ma-iktKmcmulikS

Telerobot System Controller

Fig. 2-1 The structure of the LCA telerobot system (LCA:Laboratory for Control systems and Automation)

Fig. 2-2 The hardware of the LCA telerobot system (LCA:Laboratory for Control systems and Automation)

-96-

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fF =(Wj, W2,A ,W„) (3-5)

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-100-

Fig. 3-1 (a) Image to be acquired at the teach mode

01Visual Servoing

Actualimage

Desiredimage

Fig. 3-1 (b) Desired Image to be acquired in actual mode

Human operator command (Fh)

Active slave

, Visual force i feedback 1

FeatureExtractor(G)

Slave Arm Manipulator

(PID)

Master Arm (PID)

Human hand

Auto-tunning Fuzzy Inverse Kinematice

Fig. 3-2 The block diogram of the telerobot system with the visual force feedback

Fig. 3-3 The membership function of input and output value

-102

Uk1-1 Uk1z— Mtfa i)

V Mk~/wi)w,

U,1 u,

/XS£AW-/W

W,

hki= M/w,) "AW

h<k-nr MkJ™,) "AW

V/)= A/w'J • A-/W

\(k-l)(l-l) = Mk~i(Wl) • Ml-l(w2)

Ukl

h(k-l)l

1U(k-l)l

hk(l-l)

U(l-1)

h(k-l)(l-l)

1U(k-l)fl-l)

l‘kl

I'(k-l)I flk(l-l)h(k-i)fl-i)

JUklU(k-im/k(l-l) U(k-l)(l-l)f

/lxr

Fig. 3-4 Simplified fuzzy reasoning method

—103 —

4. 4 Z) # 4*-^* 4-g-s) 4)4

4.1 7))*

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-104-

a# 4-Ml a# 44 #14 #4 la# 444 #4. 4 44 444 4* 4#4 #4.

if Vje >Cjy then AXr = &XM else if^YE — ^-tv AA % — AA y

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yR ~ yv (4-3)ZR - ZM

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-106

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XR=XM

yR = y\i (4-4)Zr = Zy

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AX % = cc • AXm + /?• AAV

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— 108-

Human operator command (Fh) Active slave

Visual force feedback 1

Actural image :i features(Vacl) s

Image features error(Ve|T)

FeatureExtractor(G)

Slave Ann Manipulator

(P1D)

Master Ann (PID)

Human hand


(HO-')

them AX„ =AX,

then AXR = AX

Fig. 4-1 The block diagram of traded control with the visual force feedbackin teleoperation

-109-

25

%

w

I

20

15

10

5 -

0

n

_L _L0 5 10 15 20 25

The number of experiment (number)

Fig. 4-2 The total feature error values in using the master arm without visual force feedback

-110-

Visual force ___feedback ]

Actural image features(Vact)

Image features error(Verr)

FeatureExtractor(G)


(PID)

Human operator command (Fh)

Human hand

Master Arm (PID)


Fig. 4-3 The block diagram of hybrid control with the visual force feedbackin teleoperation

(aX,aY : visual force command, AZ:human command)

-111-

Human operator command (Fj,) Slave Arm

Manipulator (PID)

Master Arm (PID)

Human handVisual froce ___

feedback 1

Auto-tuiming Fuzzy Inverse Kmematice

(MG')

Actural image features(Vacl)

Image features errorCVgrr)

Desired image features(Vac()

Fig. 4-4 The block diagram of hybrid control with the visual force feedbackin teleoperation

(aX, aY: human command, aZ: visual force command)

Human operator command (Fh) Active slave

Visual force feedback

Image features error(verr)

Desired image features(Vact)

FeatureExtractor(G)


(PID)Human hand


Fig. 4-5 The block diagram of shared control with the visual force feedbackin teleoperation

-113-

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.Initial image

Fig. 5-1 The initial point and final point of the slave arm

Fig. 5-2 The teleoperation system using the master arm

-119-

0.005

0.000

-0.005

1 -0.010-Bf

N -0.015

-0.020

-0.025

0.39 -0.08

Fig. 5-3 The change of x, y, z path in using the master arm without visual force feedback

Time(second)

Fig. 5-4 The percent change of image feature errors(PCIFE)in using the master arm without visual force feedback

—120-

Visual force J. feedback t

Actural image features(Vact)

linage features error(Verr)

Desired image features(Vact)

Feature Extractor G)


(PID)


(HG-1)

Fig. 5-5 The teleoperation system using the master arm

-121-

-0.005

'E -0.010

n -0.015

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0.380.39 -0.08

Fig.5-6 The change of x, y, z path in using visual force feedback

-50 -

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- - V;-200 —

-2 0 8 10 12 14

Time(second)

Fig. 5-7 The percent change of image feature errors(PCIFE) in using visual force feedback

-122-

0.005

0.000

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S' -0.010

N -0.015

-0.020

-0.025

0.380.39 -0.08

Fig. 5-8 The change of x, y, z path in using the traded control method

— V--250 -

Time(second)

Fig. 5-9 The percent change of image feature errors(PCIFE)in using the traded control method

-123-

0.020.00

' -0.02 ‘ "0 04

*s(rn) -0.06 h ^0.39-0.08

Fig. 5-10 The change of x, y, z path in using the hybrid cotrol method (x,y: humand command, z: visual force command)

Fig. 5-11 The percent change of image feature errors(PCIFE) in using the hybrid cotrol method

(x,y: humand command, z: visual force command)

-124-

0.005

-0.005

N -0.015

-0.020

-0.025

W37 -0.06 40.380.39 -0.08

Fig. 5-12 The change of x, y, z path in using the share control method

— — V

Time(second)

Fig. 5-13 The percent change of image feature errors(PCIFE)in using the share control method

Visual feedback command only

Human command only

Shared control

Hybrid control

Traded control

I I" I l""| I "ITotal featnire errors (pixel)

Fig. 5-14 Total feature errors of serveral control methods (t = 3.006 second)

Visual feedback command only

Human command only

Shared control

Hybrid control

Traded control

2.83 (t= 13.21)

13.74 (t=3.49)

2.00 (t=4.67)

4.79 (t=5.05)

1.41 (t=7.25)

Total featrure errors (pixel)

Fig. 5-15 Total feature errors of serveral control methods (t = final time(second) )

—126—

Table 1. The conditions of experiments

items ValueArea of target object

(unit: mm2)640

Focal length (unit: mm)

12

-127-

Table 2. The results of experiments1 items Visual

sensorfeedbackcommand

Humancommand(usingmasterarm)

TradedControl:

HybridControl(z.visualfeedbackcommandx.y.human)

SharedControl

Initial point (unit: mm)

(350. 0. 0)

Desired points (unit: mm)

(377.33, -73.43. -2.45)

Desired feature (unit: pixel)

(0. 0, 80)

Final time (unit: second)

13.21 3.49 7.254 5.05 4.67

Final points (unit: :mm)

(377.35,-73.97,-2.41)

(377.13,-73.52,-1.97)

(377.7674.39

-23.21)

(376.11,-74.67,-2.31)

(377.17,-73.72,-2.36)

Initial featureerrors

(unit: pixel)

(-190.00,72.00,32.40)

(-190.00,72.00.32.59)

(-190.0072.00

31.64.)

(-190.00,72.00,31.76)

(-190.00,72.00,32.36)

Initialpercentage error

(unit: %)

(-237.50,90.00,40.50)

(-237.50,90.00,40.74)

(-237.50,90.00.39 33)

(-237.50,90.00,39.71)

(-237.50,90.00,40.45)

Initial total feature errors (unit: pixel)

205.75 205.78 205.63 205 65 205.75

Initial toatl percentage

errors (unit: %)

257.23 257.23 257.01 257.07 257.18

Final featureerrors

(unit: pixel)

(0.00,0.00,2.83)

(-2.00,1.00.

13.56)

(0.00 - 1.00 1.00)

(1.00,2.00,4.24)

(-1.00,0.00,-1.73)

Final percentage errors

(unit: %)

(0.00,0.00,5.59)

(-2.50,1.25,

16.68)

(0.00,1.25.1.98)

(1-25,2.50,5.30)

(-1.25,0.00,-2.17)

Fianl total feature errors (unit: pixel)

2.83 13.74 1.41 4.79 2.00

Fianl toatl percentage

errors (unit: %)

5.73 16.91 2.34 5.99 2.50

-128-

Table 3. 4444 3.006&44 4 4] 4 4 5.4 ti] iitems Visual

sensorfeedbackcommand

Humancommand(usingmasterarm)

TradedControl:

HybridControl(z:visualfeedbackcommandx.v:human)

SharedControl

Initial point (unit: mm)

(350. 0. 0)

Desired points (unit: mm)

(377.33. -73.43. -2.45)

Desired feature (unit: pixel)

(0. 0, 80)

Final time (unit: second)

3.006

Final points (unit: :mm)

(370.97,-48.65,-2.58)

(379.11,-75.51,-1.97)

(378.72,-74.82.-2.33)

(380.01,-75.51,-2.35)

(376.91,-73.20,-2.34)

Distance between initial and final points

(unit: mm)

(6.36,-24.78,0.13)

(2.22,2.08,-0.48)

(-1.39,1.39,

-0.12)

(-2.68,2.08,-0.10)

(0.42,-0.23,-0.11)

-129-

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#3 M

[1] Pennington, J. E„ “Space telerobotics: a few more hurdles”, Proc. IEEE Int. Conf. Robotics and

Automation, pp813-816, 1986,

[2] Sukhan Lee, 11 Intelligent Sensing and Control for Advanced Teleoperation ", Proc. IEEE Int.

Sym. on Intelligent Control, pp 19-28, June, 1993.

[3] Iiasegawa, Suehiro, Ogasawara, " An Integrated Tele-Robotics System With a Geometric

Environment Model and Manipulation Skills ", IEEE Intematinal Workshop on Intelligent Robots

and Systems, pp335-341,1990.

[4] Lee E. Weiss, Arthur C. Sanderson and Charles P. Merman, " Dynamic Sensor-Based Control

of Robot with Visual Feedback", IEEE Journal of Robotics and Automation, vol, RA-3, NO.5, pp.

404-417, Oct. 1987.

[5] Feddema, John T., C. S. G. Lee, and 0. R. Mitchell, " Automatic Selection of Image Features

for Visual Servoing of a Robot Manipulator," IEEE Int. Conf. Robotics and Automation, pp. 832-

837, May. 1989.

[6] Feddema, John T. and O. R. Mitchell, "Vision-Guided Servoing with Feature-Based Trajectory

Generation," IEEE Tr. on Robotics and Automation, vol, no.5, pp. 691-700. Oct. 1989.

[7] Jang, W., K. J. Kim, M. J. Chung, Z. Bien, "Concepts of Augmented Image Space and

Transformed Feature Space for Efficient Visual Servoing of an Eye-In-Hand robot," accepted for

publication in ROBOTICA.

[8] B. H. Yoshimi and P. K. Allen. "Active. Uncalibrated Visual Servoing". Proc. 1994 IEEE Int

[9] # 5.^1 4 9"# #3", Ph. D dissertation, KAIST, 1991.

[10] Bradley J. Nelson, J. Daniel Morrow, and Pradeep K. Khosla, “Improved Force Control

Through Visual Servoing”, Proceedings of the American Control Conference, Seattle, Washington

June, 1995.

[11] Kim, S. K., and Hwang, C. Y., "Robot controller with 32-bit DSP chip". Korean Automatic

Control Conference, pp292-298,1991.

[12] M. Mizumoto, “Realization of PID Controls by Fuzzy Control Methods”, Proc. of IEEE, pp.

709-715, 1992

[13] ^ t-S, "*Hf 3^ oj-o] a]4 7]*] ",

1995.-131-

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4# #4 4[4]# #414 #4# #414###44# #3# 41 #434. * *4/4*4 #42444 444 #4)# 4# #2/^424#41442,2711 *}

#4 #*4*2# 7># 2## #44 #*4*231 4 #4# *#4 2*42#24# *43) #1## 2 3# #2### 7% #4#4. 343. 41### 244 2*4# 41# #24**41###4 24# 42### nxn 4#2 #3# 41 #4 2## 4* 44# 34.

#44 Cheng#[14]# #4#4]^-# #44 #4*2#414 ##2H#4l * 4 424# 4# #417} 3* 4* # #4*2 2## 444*411- Compact Quadratic Programming(QP) ##44 4## 4 34- Pin[15]* Full Space Parameterization (ESP) #3 * # *44 nr*4 4*24# 4S4-

##4*2 2** *4 4422 4)#4* #2 * *41 ## ##3| 4*# 4* #4 ##. # *414 Seraji[5]# #*# # 2 3*4, PUMA 560 2*#

7ll244 4=4 4# 34*231 4# *4# 434. #*4*2 41 # #4=2* * *44=7} ** 2*4 #-*4 (4+62+63)#441 #4 #44 Y* 44 (/1sin(01)+

-142-

8

°hAtilrirr#A4iJ2[tinrtuml©A44HJd>+i'4iAmlm

Mm41

AA41AAinkJct[thoh-HArh

A

Hr°hItlloAaHoo

miniAojor°k

t

Jh|oKu

HiA

tt£r°kojflAJ$ljhA

mhHJ44mixml©[AAmha&AJho|d

&rirmhaskml©d>oSH

41

Hi

m|dA_o

tiLAtiinaatiltil4142oh©iry&rhtilohml©J$r3r°k41

l-J44HitthA

n2©4©$;41

M©©hoijt

[til©HrAdNriruA.M

44A

°h

tilrir

4*rh

tiLHi4-i

tt$©L

tilHItljooo414©HiR>

HA©Kml>iAM©rh

m2AjhojoArirtiiiddA_otiLml©d>0&rhA

r4ldaMdAAninml©darh

©l)i

AojoArir°hmi

©inml©41dinW

AA

ArhAmhHi44#.lach©irmi©Arh©v,44daAI

«§'

Iml©ohJ?4bA

A 4-1 rh ©k rh r)r[tl°t 0®,Hi mi 44 44

XI

4JJ$!JhA444ijotJh

d©tiito<41

tiirirooX

3Hiarh©inmj©4©Hirh41

U44MCOohAtilrirto4bmHitil

4©Hng

HAArhXI,

d-lj°kjhrtiAjhml©daAJh18Aoh

d© xn Hi aHu f

Ja[uhaskm|©

ti44HJ

ojmA Hi_m tia rti ^ °k ^ Hr rh A rh*2 ©H A J&

J°kjhAAin©w44#Atil©irml©ohrfl.co->4

jhojoAHJl-iAjh

AAAtiL

HidJ

iAAA

naArh&nHuArhtilohml©AAArir

on HuohtiiAAAAHJAd|Hmj©Atiirhd°t

00Xd©Hig1

HAAmjaAotiLA

Hu>HAAw>

oH

ml©Ar°kd>mKiJ°kAxh©ird>ohml©HiAAtoArhHi

AArhrh

rHra4-iAj|djhrl©rh41Amhtii14AArir©1HArh

AdmAAKmlH0&JhaS.

Arir

tSL4i4djhxa

Aojo

•-bi

slo-g

- fe-E

ln {z

lzisj

olk B

Bln

ln

[oR

,-fe

lo-h

kir

+

i «i-i Ctj l di Si1 0° 0.0 mm 0.0 mm 0i2 90° 279.5 mm 0.0 mm 023 0° 689.3 mm 0.0 mm 034 0° 482.6 mm 0.0 mm 045

Ooot1 133.6 mm 0.0 mm 056 -90° 0.0 mm 375.0 mm 067 90° 0.0 mm 0.0 mm 07

Table 1: tffl 4 Zz# 7)) 6] t> 7# KAEROTS) D/H notation

2 4^^ 8#

KAEROT# 7l^AS 6 5455 4144 &)#cl), 4)4^# 445455 5 541 7 545# 5-71) 14. 25154)1# 41 7545# 44 4 4545

5## 4-8-% 14# 5D# 4 14- 4% 351541# KAEROT4 44^ 545# 14455 74# 45.4 11414. 4 444 444 5^5 44 #441 55# 4444 5)4414 57)-4 444. 441^.5 KAEROT# 5 4°1) 7}f-71-^4 414 # 8711 s, 441 244-444455. 4# 554 114- Figure 344# 444 KAEROTS) 7)) 4e4 111 4&1# 5454- 51 4 4 5 4451- 444 7154 4 7 445 5554) 4 4 D-H (Denavit-Hatenberg) 4544 # 541 5.14 44-

24554144 447>x)s. 4]4^4 1155415 144 81# 41 N&

455, 45544 7]55&4I4 y-4^5 11%4- 4554 17)4414 4 241^1 242 44445 5554 454 mi- 5# 5 14. 455. 4

14# 151 (symbolic) 414 7>51 MACSYMA[16]4# 15544# 45

41 1414.

2.1 14441

• 5.M 54 4444P=[Px P, P,]T (1)

Base Motion

Figure 3: M-R-S KAEROT-2] 7fl 6*= <4 DH

Px — —-E's(c1c234s5 + S1C5) + (L4C234 + Z/3c23 + -t-2c2 + ^l)cl

Py = -^5 (clc5 — S1C234S5) + (L4C234 + L3C23 + L2C2 + Li)si + #8

P? = —jt'5s234s5 + 2/43234 + LZS23 + 2/232

rn ri2 ri3

r2i 022 7*23

rsi *"32 033

(2)

rll = (C1S234S6 — SXS5C6 + Ci C234C5C6) C7 — (C1C234S5 + SiCs)s7

f*12 = —(Cl3234«6 — S1S5C6 + 0402340503)37 — (C1C234S5 + 8105)07

f 13 = — (sl35 — ClC234c5)s6 — cls234c6

r21 = (S1S234S6 + C1S5C6 + SiC234C5Ce)c7 + (C1C5 — 31023485)37

r22 — — (sls234s6 + C1S5C6 + ^1^234^5^3)37 + (O1C5 — 81023485)07

-145-

7*23 = (ciSs + SiC234Cs)S6 ~ SiCqS234

^31 = (C5C6S234 ~ C234«6)c7 — S234S5S?

^32 = ~ (C5C6S234 — C234Sg)s7 — S234S5C7

r33 = S234C5S6 + C234C6

2.2 ^>SHl% fg#

Ju Jl2 J13 J\4 J\Q J\7 JisJ21 J22 J23 J24 J25 J26 J27 J28

J31 J32 J33 J34 J35 J36 J37 J38

J41 J42 J43 J44 J45 J46 J47 J48

J'ol ■J52 J53 J54 J$6 J57 £58

J§\ J&2 J&3 J&4 J&3 J&& J&7 J&8

J\l = I'5(sl<:234s5 ~ clcs) — sl(^4C234 + 1>3C23 + -^2C2 + L\)

J\2 — j&5clS234s5 — L4C1S234 ~ L3C1S23 ~ £>2C\S2

J13 = ^5C1 s234s5 — £>4048234 ~ £>3cls23

Jl4 — ^5^1^23455 ~ -&4C1S234

J\3 — £58485 — £5c1c234c5

Ji6 - 0

Jl7 = 0

J18 = 0

J2I — ~"-^,5(clc234s5 + S1C5) + L4C4C234 + L3C1C23 + L2C1C2 + L4C4

J22 = -£’5s1s234s5 — ■^’4S1S234 — LZS4S23 — L2S4S2

J23 = ^5^1^234^5 — -^4^1*234 ~ L3SiS23

J24 = L5S1S234S5 ~ L4S1S234

J25 = —-C'5((?ls5 + S1C234C5)

-146-

he =

hr =

J2 8 =

hi =

J32 =

J33 =

J34 =

^35 =

^36 =

J37 =

•J38 =

J4l =

J42 -

J43 =

«^44 —

«^45 —

J46 =

J47 =

■ha = •/51 =J32 —

J53 =

J54 —

he =

^56 =

0

1

0

— £sc234s5 + L4C234 + L3C‘23 + Z/2C2

~-£'5c234s5 + L4C234 + L3C23

— 5c234s5 + L4C234

—^5^234^5

0

0

0

0

si

si

si

—cls234

— C1C234S5 — S1C5

— S1S5S6 + Cl (C234C5S6 — S234C6)

0

0

-ci

-ci

-ci

—S1S234

C1C5 — S1C234S5

0

-147-

J$7 = CiS5S6 + Si (C234C5S6 - S234Ce)

J58 = 0

J&l = 1

2 = 0

■hz = 0

J&4 = 0

«7g5 = C234

«^66 = S234S5

«/67 = S234C5S6 + C234C6

-768 = 0

2.3

s*e4 444 4## 4#4 44 ^444-

p* Pyftf

(4)

rn ri2 ris

r2i T22 7*23 (5)

^31 r32 r33

4444s# %44 4 444,414^4 44 M f?}4 4444 4 07# 444 4^5. 7>444. 441 444 644 4 4 #4# #444.

6P = 8P (6)

gP = Xfi = ^P to™1 (7)

-148-

444

tR =

aR =

C7 —s? 0

0 0 -1

S7 c7 0

rtii ”12 ”13

”21 ”22 ”23

”31 ”32 ”33

O] 5} 44-.

l. C5* -i 4 +i #41 445 4444-

Cl =C5(-Pg — L^riis)”23-Px ~ n\zPy

Si = c5(Py - L5n23)n23Px ~ n13Py

6\ = otan2(si, ci)

2. ss# -1 4 +1 #41 445. 44 44.

(8)

(9)

(10)

(11)

(12)

C6 =Cl ”21 — Sinn

(13)S5

S6 = sl”l2 — Cl7l22S5 (14)

II atan2(se, c@) (15)

C.5 = Cl ”23 — Si 7713 (16)sl”l2 — Cl 7722 (17)S5 =

Sg

3. cs4 s54 #571- SMI 4 44 44#53 44 (l) £4 (2)5 44-4571- 45^ 45. 44.

4. 4## 4 444 5.# 4 7l #44 # #44 44-

cl”l3 + Si 7123(18)C234 —

SB

—149—

$234

#234

A

B

u

H

04

02

#33$5

o£cm2(s234, C234)

clc234^a; + $lc234p/ + $234-9 ~ 9C234 + Z/5S5 — Z4

Cl $234-Pa; + $l$234p/ ~ c234p; — 9 $234

(A2 + f?2-T|-X2)2L2L3

atan2(±\/1 - u2, u)

atan2(B, A) — atan2^L2s3, L3 + L2cz)

0234 — 03 — 04

(19)

(20)

(21)

(22)

(23)

(24)

(25)

(26)

2.4 91 %4|

944 49^5-4 4 #44.5: 55-9 5994 sll 99444s 44# l 441 9 &# #95.14 7>^S>4. o) e] 4 !-2l4# 9%9 44#944 4 4 #s# 949#4, 4# #95l44#^4s 44. S#S4 3) <y #444 #4, 44% #951444#x}#c 5.5-4 44## 4# 4

4#4 4s4 4# 4#5. 4-S-7>#44- n#4 41 %47} 41 19, 4 4 % # 95.1 4 4 #jel# £#5.4 44o)| a] 444 44# 1-55-14. %1%449# #4S&%4 %%1# 44 4 #4 4- S% 4 #4 94 #s 4## 9s $)4. 9 4444 4-9# 8-44S KAER0T4 %1%4% Table 24 #4-

444 9 7f|4 notation# 49# 4tt# 494 #4- 49444 #4# 4#4 9 49414 19% 41# s 5-94944 4 111 S3. 499# DHnotation #4# 499##, KAEROT# #xM# 49.447} 44 4=44#

44. 9 5.S444# 1499, 4494, 4a#4<@4 #9 DH 4±44# 4=9, 41194 #% 14# KAER0T9 44# 4sl:4.

-150-

KAEROT Notation DH Notationmin. max. min. max.

1 -135.00 ° 135.00 0 -135.00° 135.00 02 -147.180 122.82 0 -156.68 ° 113.32 °3 -167.82 0 102.18 0 -158.32 0 111.68°4 -90.00 ° 90.00 0 -90.00 ° 90.00 °5 -90.00 ° 90.00 0 -180.00 0 0.00 °6 -90.00 ° 90.00 ° -180.00 0 0.00 °7 -90.00 0 90.00 0 0.00" 180.00 08 0 mm 500 mm 0 mm 500 mm

Table 2: W-R-S KAEROT^ ^ tMl

-151-

toI

A A r|r a4L*2 6** H r|r ft <JO oo£ F

SIA A

A H4 r°k n°fcB rMg H: ^

o& H t& 4> A [)iA rh

* _o,w;*

rir

U aW1#

61A H 1°o|n HuA AH Ha 4> A

B*IIo

7nasT131e

e1

mas

'"S3

IIH

7nas

Aminimisri41tijoAftrloit

Jhjot

[lti.

ftAm|oHftH>

41

u A#Hi

•it

Ar|r4L

A A 4> A tilow A W J?t 4tjas % rh ot &

m o|r rl°1 "-s A wam £q 3 H> &

m II A%

H 5 r£3 H

^ % m 3^ IA ~ o<Ti

%

oh

ft

xa ft

IsA H A 4>jo ftit -S- Jh 4° jot ftit

A A

Mft41

xa»|r4>(&0$Am|<>daft<&

ftAH>1*Aojo(11$

AAJEJajaa_i 1

ftA

1°HuitjhJotftohftAH>j53minNA

8

H> ftH

f ft ftAmlmdaAAAJimo

ohJ?tJB.

1

3IAo

'rn

%

5=3IAo

da %

to00

ft ft 41 A• ft

Axa<4LAmidJetJcLmlmdaAArir41tijo41ftrhdmoldJ>Hi4>HMrhml<>o

ojo1$!

H

A Ja1 t w i% j[>m ^^ rh

|oHu

3rirft ^ ft ft ft rAH> ft

41t

rir

AAAH

M r(rAAmittAAA

A

ft UAft

4>r|r a1> 3 ft A A mlmflOji H

t f* S

3IIN

'mas

to

A4°A4°ftAAmittAAAAAHiJ°iAr|<>

tofttiLftAAftft

ftJSLd|HJat>

CO

00I-a

M

£§H

0^0

&K($d&

=2,

23°11 43 42.34696

liw = -S(JewJeW) 1Jewh < 0, (30)

44. 444 S = [0u;Xm:/tuXlu] 7} 5]51, *1 #4#3 96496234 4294

(31)Hi = 0 /or * ^ W

44- 444 #3-236 2rto(V2L)Z£>l negative definiteo] 43 34 4.

4 #2.1 44# 32/6623* 4644 449# 9246* 3# 6 $14. 43 #3 6, 4699#4 44-9^9* 4646 936 464 34-

(32)

4 44 j+w = jL(^JL)_144. 235 964 96234 4% 4294 6

6# 946 336 3444 34-

3.2 7>#41- 3.4% 39-464 43

4 944 9-43 394 #6 4946 394 dimension (metric unit) 4 -g-9446 9436 39- 34. 46 64, Pseudo-Inverse 336 93 33694 6 (norm) 4 2446 33 4 4 4 64 34- 934 KAEROT4 39,3 33 4 prismatic joint 4 25 [mm/s]4 34 # 7V4 9L, 444 6 S-9 [rad/s]4 34 * 7}34- 34 norm6 944 4 3, [rad2/s2 + mm2/s2]4 ^4 7} 4 4 93325. 363 34-7} 464-

4*4344 44 7>94 *8 9* 4634- 6 fww]4 W* 46314 9 49 6(dimensionless norm)6 3# 9 34- 29 4 7)°)) 94) 7]-#4* # 9294. 46444 *24*6 W* 39*893. 46349: #9 94- 6 949 6* 43 7>#x]4 33) 444 7>#4 ^9* 63) 3449* 36 44 34-

w = ttw2 = i (33)

-153-

444 # 4 #44 4#4 40] ^-4144.

)* 4 ^twWêwW)h (34)

0)714JLw = w-1 /T** ew (j«uTy-VL)-' (35)

0)4. 4^7)x|s. 4#9 44244 4% 4ZZ-44 44# 44# 4D# 4#444.

t*w = -S(JewW_1JLr'JevW-'h < 0 (36)

0)714 7}#4* .ZB) % 444 4Z1 44 #4# 4#4 #4 425)94.

k + J etyAy, = 0 (37)

j=«,^(A + JL^) = 0 (38)

JevjW~x h + JewW xjJw Ay - 0 (39)

(tlgy 1«êtu)Atu - —JewW 1 h (40)

= -{JewW-XJTew)-XJeWW-Xh (41)

Pw = -S(JewW-xjJw)-xJewW~xh (42)

244 #4 ^(manipulability measure) £. 9 A) metric units)- 7)-^x] # EB) # ^

514- 9# #4 ÊS)#44 (Je^-VD^la) 4^##4#47) 4 #4 4-

3.3 JS.^44# 6l^-^r 4SH]y:44 6]#-

4^(orientation)-§- EB) % -f x>su] o}a}s}- 0)7] f 446 9442 E 4#4#9 9.44.

v = Jv0 (43)

-154-

444

(44)

(45)

44, Jv^ symbolic formas. f 4 9"444- 2®t41 w# H 4 #44 o}^% # 44 4 44# 44 #44 444 $14 4-§-S}7M1 #^44- <yo>3]55. 5.#44%=# 5 <8 44(euler angle) 0.5. 44-4 4^4 <?>i- °] -§*4# 4 #7]9-45 5H444 4 #4# 4 #4# 44 44^4- 4^4 5##4 444 44°1 iM44 #4441 4# 9^44 4, -£.11444 2 4#4# 44

V =

9 = J+v+(J-J+Jy)VH

r — N, r=r<f> w

(46)

4 44- 4 54444- 4 #44 424 444 4 4 9-44 -t 4&4 44-

r = Jr9

9 = J+r + (I-J+Jr)VH (47)

4 44 Jr — T~lJvo\ 4-. 5.4 4 4€- 4 4 7>4 ig-ig 0.5. XS7prt!41, 4 7l 4 # z-Y-x 54444# 41-4- 4## z-Y-x 5-84441 4% 4#^ #4 4-

1 0 0 0 0 00 1 0 0 0 00 0 1 0 0 00 0 0 0 — sin (a) cos (a) cos(/3)0 0 0 0 cos(a) sin (a) cos(/3)0 0 0 1 0 - sin(/3)

(48)

4, 44 #4# 44 4 44 544444 ^s(rank)7l- #

-155-

4 #4# 44 4- 4# #4, z-Y-x 2644# 4#16 41#sin(/3) = (HlAl o]y 164 4614- #21 3 £ 42# ^>S0] 6H 6 4 43. 4 61^ 64 4# 6414# 4 °1 4- 4 6 # singularity?} 44 4#3), 4 # kinematic singularity4 4^44 representational singularity5}3. 14-

3.4 Working Set4 #4# 5l#4 4 424 #

2412414 41 44 446 44# 4424# 42^2 643.2(Safetyfactor)#7>4 423. 314431 44 4&4 44 #4444# 441 444# #^162

3 42# 444# #3151#o'!44- 4 4# 44# 4#24 # 4 # 4###4314 4# #24## 4#5S1 444-

• #41 441# 4#24 : Ri < 30

• #315] #414 3144 4°H #4#24 : Ri < 25

4 4#, 4-# #44, 4# #2, 37431 sampling rate #4 4## 44 #24# #*§### 44 ##24# 44444 #4# 4 #7} 444 # 44- #, Ai = 264 #7fl4 42 441 4# 444. 3144- 44 444 442241 44

#711 44 #4# ##44 471144- 242 Working Set4 44# Active Set41 244 44#24 #414 #24#41 °1#4#244 44244-442^44.

Active set4 44 : A — > 0}

244 6422# 24 44 &#41, Active set4| ill 44#24# 4 4 44# 444 4## 44422 # f 6225., A}## Active set41 5#4#44#24# 644 64-

• 3462 64414# 4°H#44 #4# A = {}22 4464- 44# 2# 42414 active47114# ##4##24»1 64, 4 44###24# 444 6

#464# 4# 44#4- 4# 6 24# 44144 44 44 #6 4-%# ##4

4 442 active4Til 1 24# 4 4 working seto)l 2644224 7}#S}t11 44. 44 Working set# “#24 #414 24 44 624 Active47fl 4 # 4o|j ^-214144 642 46”22 7112 4444-

-156-

4*4 4# 44 S^e]#* 4 7]-4 ^4 7j-4* 44#24*% 44 44*1 f 7}s| 414. #4444 444. 44 44 44*4 ^f7} 44 4# 4" 44- W(t)* ^44 0(044 0(& +1)* 9-% 4 #j8L% Working Set4 4. W4 0^ 44 W(fc)4 e(& + l)<4| 4% ^4 &o] 4.START :

1. k = 0, 57)44 5(0) 9! 27l Working Set 1^(0)* *44.

2. W — W(0)

BASIC :

1. i(fc), 5(4, w&*4 4*441 0# *44.

2. 041^2*4 m4 A# *%4.

• W = {}°J 44 :

(a) A = {}4 44:- 0(k + 1) = 0, 1^(0 = TF, {i(k+l)={i, A(k + 1) = A

- k = k + 1

- goto BASIC(b) A 9 04 44:

- W = A- goto BASIC

•W^0444:

(a) A = 04 44:i. fij < 0 (for all j G W )4 4 4 :

- 0(k + 1) = 0, W(k) = W, fi(k + 1) = /x, A(k + 1) = A

- k = k + 1

- goto BASIC

ii. Mi = 0(j'€W)4 44:

-157-

A. j£W(fc-l)4 34:(23 j7j- Working Setofl 4334 34)

— #(& + 1) = 9, W(k) = W, fi(k + 1) - fi, A(k + 1) = A

— k = k + 1

— goto BASICB. jeW(&-l)4 34:

(23. j7|- Working Set'll] A) #344 3 4)— 8(k + 1) = 0, W(k) = W, fi(k + 1) = fi, A(k + 1) = A

— E = {j\nj = 0}, W = W(fc -1)-E

— fc = A; + 1

— goto BASICC. r, >o(je w(&))% 34 =

(23 j 7> Working Set'll 3 #344 3 4")— E = > 0}, W = W(A: — 1) — S

— goto BASIC iii. A3{}3 34:

A. ffii<»-mo|^(^ 44427} #0} 5^4 34)— W = W(k- 1) + A

— goto BASICB. wk = n - m *] 3, (#4%^. 4 43427}

— E — {j\Rj C Ri, j 6 W(Ar), i € A}

— W = W(k-l)-E+A

— goto BASIC

3.5

433 # ail 43 2#^# 3313243 2#^ 33 44 44 4-2.3. 34323. 334 3433.# 43M4- 4333 444 #3433 3)4

-158-

#3414 #3% 4-#### 24# 3.A 4#4 ## 5 7>4s ##4 4=$A4.

1. 2#^4#7l ##7l 4=# 4f# ##

2. 21^4 5.S.H #1/## *s.

3. Sil #/4#4#4##7l 4=#4## >#

4. SiS5] ##44 #-# ##

5. 49-44 ##44# ##

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-174-

References

[1] H. Seraji, 1994, “A Real-Time Control System for A Mobile Dexterous 7 DOF ARM,” Proc. IEEE Int. Conf. Robotics and Automation, pp. 1188-1195.

[2] H. Seraji, 1995, “Configuration Control of Rover-Mounted Manipulators,” Proc. IEEE Int. Conf. Robotics and Automation, pp. 2261-2266.

[3] Y. Yamamoto, “Coordinated Obstacle Avoidance of A Mobile Manipulator,” Proc. IEEE Int. Conf. Robotics and Automation, pp. 2255-2260.

[4] 341, *3£, 1995, “9-4-3 3341 3 43435143#3 434 49-33 344333Md:#33 5:#!3343 33,” 334334345143 £3, pp.1162-1165.

[5] H. Seraji, 1989, “Configuration Control of Redundant Manipulators: Theory and Implementation,” IEEE Trans. Robotics and Automation, Vol.5, No.4, pp. 472-490.

[6] R. Colbaugh, H. Seraji and K.L. Glass, 1989, “Obstacle Avoidance for Redundant Robots Using Configuration Control,” J. Robotic Systems, Vol.6, No.6, pp.721- 744.

[7] H. Seraji and R. Colbaugh, 1990, “Improved Configuration Control for Redundant Robots,” J. Robotic Systems, Vol.7, No.6, pp.897-928.

[8] H. Seraji, 1992, “Task-Based Configuration Control of Redundant Manipulators,” J. Robotic Systems, Vol.9, No.3, pp.411-451.

[9] Y.W. Sung, 1995, Control of Redundant Manipulators with Multiple Criteria, KAIST, Ph.D. Thesis Proposal.

[10] D.G. Luenberger, 1984, Linear and Nonlinear Programming, 2nd ed. Addison- Wesley Publishing Company.

-175-

[11] P.H. Chang, 1987, “A Closed-Form Solution for Inverse Kinematics of Robot Manipulators with Redundancy,” IEEE J. Robotics and Automation, Vol.RA-3, No. 5, pp. 393-403.

[12] D.K. Cho, B.W. Choi and M.J. Chung, 1995, “Optimal Conditions for Inverse Kinematics of A Robot Manipulator with Redundancy,” Robotica, Vol. 13, pp.

95-101.

[13] P.H. Chang, D.S. Kim and K.C. Park, 1995, “Robust Force/Position Control of A Robot Manipulator Using Time-Delay Control,” J. Control Engineering Practice.

[14] F.-T. Cheng, T.-H. Chen, and Y.-Y. Sun, 1994, “Resolving Manipulator Redundancy Under Inequality Constraints,” IEEE Trans. Robotics and Automation, pp.65-71.

[15] F.G. Pin and F.A. Tulloch, 1996, “Resolving Kinematic Redundancy with Constraints Using the FSP (Full Space Parameterization) Approach,” Proc. IEEE Int. Conf. Robotics and Automation, pp.468-473.

[16] Symbolics, inc. 1988, MACSYMA User’s Guide.

[17] #3*, 47]a, 445, 1994, 5-5-4 7]9-4, 5-44 9)44 4444444444444,184, 12a, PP.3253-3269.

[18] 44447] #4, 1993, 44445 5.5.M# 444 444^^441 4444, 44-S- 4 4 55.5 7] #7i] 4,1445 44^3-4.

[19] 44447]#4, 1993, 44445 5551 444 444^^44 44 44, 44^ 444 44 5.5.5. 7]#7114,2445 445.54-

[20] ADAMS (Automatic Dynamic Analysis of Mechanical Systems), USER’S Reference Manual, Mechanical Dynamics, Inc., U.S.A.

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■1. 1995, 7]^# ##€ #^14# ^214-", <Y

####€ 4% #€ 253:, pp. 26-27

2. 44 #4m 4# 44, 4#, 44^44, 1998, p. 1165

3. 4^, 1995, 2144 4^, PP. 58-60

4. 4444 44-21#, 1994, Tank Image 4^-6- -?/8f 44$7 44 44, p. 41

5. #4444#€ #€4421% 1992, ^#4 44# 4# TV 44$/, pp. 99-100

6. €44, 1995, 44LS 4444 ^74M, 44##, pp. 17-19

7.4^4 #4^.s. 4I#4, 44# 4, 1992, 44274 #4, 444 #4A p. 317

S.Takesi, Sunaga et al., 1991, "Human Interface 444 44 43"-7]ir--l 44

4-4 &^^(l)-(3)", Bu/Zerfn qf/SSD, Vol. 87, pp. 49-51

9. Canfield, Smith D. & Eric, Harslem, "Designing the Star User Interface", in

Human Computer Interaction, ed. by Jenny Preece & Laurie Keller,

Prentice-Hall Inc., New Jersey, p. 241

10. Norman, Donald A., 1988, The Psychology of Everyday Things, Basic Books

Inc., New York, pp. 187-210

11. Yutaka, Yosii, 1993, "AVism - # 4 457] #uJjz.j <=f- ^ njy] # ?!]", Mono,

Vol. 243, pp. 186-189

12. Akira, Harada and Akira, Kawasaki, 1992, "4-7]4 #Sj7]a] krtl 21444A

#44 ## €4(2)", BuZZgtin qf/SSB, Vol. 98, p. 43

13. Miki, Namatama and Akira, Harada, 1991, "44 4*3 S VTR 4&#44 214

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BIBLIOGRAPHIC INFORMATION SHEET

Performing Org. Report No.

Sponsoring Org. Report No.

Standard Report No.

INIS Subject Code

KAERI/CM -018/95

Title/ Subtitle

A Study on the Manipulation of Teleoperation System Using Redundant Robot

Project Manager and Dept. Chung-Oh Lee (Mechanical Engineering)

Researcher and Dept.

H.S. Cho (Mechanical Engineering), P.H. Chang ("), K.C. Park("), J.H. Hyeon("), J.G. Kim("), Y.J. Park("), W.T. Hwang("), Y.S. Chun("), K.W. Chung (Industrial Design), J.Y. Lee("), K.M. An(")

Pub. Place Taejon Pub. Org. KAERI Pub. Date 1996. 7. 20

Page 220P Fig. and Tab YesO, No( ) Size cm

Note

Classified Open( ),0utside(0). Class Report Type Yearly

Sponsoring Org. KAIST Contact No. 95C-077

In this project the following 4 sub-projects have been studied for use in nuclear power plants. 1) Development of precision control method for the hydraulic and pneumatic actuators: The fuzzy gain tuner for the pneumatic servo position control system with the state feedback controller was designed by using the professional knowledge. Through the experimental study, this control method was verified to obtain the optimal gain automatically. 2) Development of an universal master arm and force reflecting teleoperation system: An autonomous telerobot system with a vision based force reflection capability was developed. To effectly implement visual force feedback, 3 different control methods were also developed. 3) A study on the analysis and control of the redundant robot manipulator: An optimal joint-path of 8-DOF redundant KAEROT for the nozzle dam task was generated and its effectiveness and safety was verified by using graphic/animation tool. The proposed dynamic control algorithm for the redundant robot was applied to the experiment of planar 3-DOF redundant robot, showing good performance. 4) A study on the robot/user interface design: A set of final design and its console table was developed, which has metaphorical identity and user-friendly interface and a study mock-up was also developed to identify the possibility in a clear form.

SubjectKeywords

Pneumatic actuator, Fuzzy gain tunning system, force-reflecting teleoperation system, autonomous control of master-slave manipulators, Redundant robot, Nozzle dam task, Robot-controller design. Robot-user interface.

The development of robotic system for the nuclear power plants

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