적분슬라이딩모드와 DOB를 이용한 강인추종 및 인간순응 로봇제어
The robot control with safety consideration is required since robots and human work together in the same space more frequently in these days. For safety, robots must have compliance to human force and robust tracking performance with high impednace for the nonhuman disturbances. The novel idea is pr...
Saved in:
Published in | 한국정보통신학회논문지 Vol. 21; no. 2; pp. 416 - 422 |
---|---|
Main Authors | , , , |
Format | Journal Article |
Language | Korean |
Published |
한국정보통신학회
2017
|
Subjects | |
Online Access | Get full text |
ISSN | 2234-4772 2288-4165 |
DOI | 10.6109/jkiice.2017.21.2.416 |
Cover
Abstract | The robot control with safety consideration is required since robots and human work together in the same space more frequently in these days. For safety, robots must have compliance to human force and robust tracking performance with high impednace for the nonhuman disturbances. The novel idea is proposed to achieve the compliance and high impedance with one controller structure. For the compliance, the ISMC(Integral Sliding Mode Control) and HDOB(Human Disturbance Observer) The human force is identified by using the human band pass filter and its output is sent to the sliding surface. The sliding mode dynamic is affected by human disturbance and the compliance for human is achieved. The disturbances besides human frequencies are decoupled by the ISMC and the robust tracking is achieved. The additional LDOB(Low Frequency Disturbance Observer) decreases the maxim nonlinear gain and leads low chattering. The introduction of human disturbance into the sliding mode dynamic is the main novel idea of this paper. 인간과 로봇이 같은 공간에서 작업을 할 경우가 많아짐에 따라 안전성을 고려한 로봇의 제어가 필요하다. 안정성을 위해서 로봇은 인간의 힘에 순응해야 함으로 낮은 임피던스가 요구되는 반면에 높은 제어성능을 갖도록 하기 위해서는 외란에 강인하기 위해서는 높은 임피던스가 요구된다. 이러한 이율배반적인 목적을 달성하기 위해서 본 연구에서는 적분슬라이딩모드와 외란관측기(DOB)를 사용하여 인간의 힘 이외의 외란에는 강인한 특성을 보이고 인간의 힘에는 순응할 수 있는 제어기를 설계한다. 인간의 동작이 특정 주파수의 범위에 있다는 사실에 근거하여 인간에 의한 외란인 경우의 외란에 대해서는 로봇이 순응하도록 슬라이딩모드를 설계하는 것이 본 논문의 독창적인 아이디어이다. |
---|---|
AbstractList | 인간과 로봇이 같은 공간에서 작업을 할 경우가 많아짐에 따라 안전성을 고려한 로봇의 제어가 필요하다. 안정성을 위해서 로봇은 인간의 힘에 순응해야 함으로 낮은 임피던스가 요구되는 반면에 높은 제어성능을 갖도록 하기 위해서는 외란에 강인하기 위해서는 높은 임피던스가 요구된다. 이러한 이율배반적인 목적을 달성하기 위해서 본 연구에서는 적분슬라이딩모드와 외란관측기(DOB)를 사용하여 인간의 힘 이외의 외란에는 강인한 특성을 보이고 인간의 힘에는 순응할 수 있는 제어기를 설계한다. 인간의 동작이 특정 주파수의 범위에 있다는 사실에 근거하여 인간에 의한 외란인 경우의 외란에 대해서는 로봇이 순응하도록 슬라이딩모드를 설계하는 것이 본 논문의 독창적인 아이디어이다. The robot control with safety consideration is required since robots and human work together in the same space more frequently in these days. For safety, robots must have compliance to human force and robust tracking performance with high impednace for the nonhuman disturbances. The novel idea is proposed to achieve the compliance and high impedance with one controller structure. For the compliance, the ISMC(Integral Sliding Mode Control) and HDOB(Human Disturbance Observer) The human force is identified by using the human band pass filter and its output is sent to the sliding surface. The sliding mode dynamic is affected by human disturbance and the compliance for human is achieved. The disturbances besides human frequencies are decoupled by the ISMC and the robust tracking is achieved. The additional LDOB(Low Frequency Disturbance Observer) decreases the maxim nonlinear gain and leads low chattering. The introduction of human disturbance into the sliding mode dynamic is the main novel idea of this paper. KCI Citation Count: 0 The robot control with safety consideration is required since robots and human work together in the same space more frequently in these days. For safety, robots must have compliance to human force and robust tracking performance with high impednace for the nonhuman disturbances. The novel idea is proposed to achieve the compliance and high impedance with one controller structure. For the compliance, the ISMC(Integral Sliding Mode Control) and HDOB(Human Disturbance Observer) The human force is identified by using the human band pass filter and its output is sent to the sliding surface. The sliding mode dynamic is affected by human disturbance and the compliance for human is achieved. The disturbances besides human frequencies are decoupled by the ISMC and the robust tracking is achieved. The additional LDOB(Low Frequency Disturbance Observer) decreases the maxim nonlinear gain and leads low chattering. The introduction of human disturbance into the sliding mode dynamic is the main novel idea of this paper. 인간과 로봇이 같은 공간에서 작업을 할 경우가 많아짐에 따라 안전성을 고려한 로봇의 제어가 필요하다. 안정성을 위해서 로봇은 인간의 힘에 순응해야 함으로 낮은 임피던스가 요구되는 반면에 높은 제어성능을 갖도록 하기 위해서는 외란에 강인하기 위해서는 높은 임피던스가 요구된다. 이러한 이율배반적인 목적을 달성하기 위해서 본 연구에서는 적분슬라이딩모드와 외란관측기(DOB)를 사용하여 인간의 힘 이외의 외란에는 강인한 특성을 보이고 인간의 힘에는 순응할 수 있는 제어기를 설계한다. 인간의 동작이 특정 주파수의 범위에 있다는 사실에 근거하여 인간에 의한 외란인 경우의 외란에 대해서는 로봇이 순응하도록 슬라이딩모드를 설계하는 것이 본 논문의 독창적인 아이디어이다. |
Author | 아브너 어시그네시온(Abner Asignacion Jr) 박승규(Seung-kyu Park) 곽군평(Gun-Pyong Kwak) 김민찬(Min-chan Kim) |
Author_xml | – sequence: 1 fullname: 아브너 어시그네시온(Abner Asignacion Jr) – sequence: 2 fullname: 김민찬(Min-chan Kim) – sequence: 3 fullname: 곽군평(Gun-Pyong Kwak) – sequence: 4 fullname: 박승규(Seung-kyu Park) |
BackLink | https://www.kci.go.kr/kciportal/ci/sereArticleSearch/ciSereArtiView.kci?sereArticleSearchBean.artiId=ART002202742$$DAccess content in National Research Foundation of Korea (NRF) |
BookMark | eNpFkEFLG0EYhoei0NTmH_Swlx562HW-mcnM7jE1trUGAyXgcZjd2S3jppuSbQ-9KVhavIhUhcoGYkEw0kMOQTz4i5zxP5g0BU_vw_s9fIf3GVoq-kWK0AvAAQccre7kxiRpQDCIgEBAAgb8CaoREob-DBtLc6bMZ0KQp6helibGlBMRAeU1tO1Ge_Z63x38tcNbN5za47G9urS_Kvd712t1XtuLW29Wu7Px_Unl3U1O3PDGXR-7P989OzmcnW7uJvvuZ-WGR549r-z0hxtV7nT6HC1nqlem9f-5grpv1rtr7_x25-3GWrPt5xEDnyc6zZIsU7HiivEUC5EIqoSgcRRrhVmqgepYc6JEAlEW0RiEpirOItCNhNIV9GrxthhkMk-M7CvzLz_2ZT6QzQ_dDQmUChLO3ZcLNzflFyMLXfbk--ZmZ74cYNEIgTEe4kev-Down1JtlPw8AzX4Jrc6rXUsABjFQB8Auk-Lvg |
ContentType | Journal Article |
DBID | DBRKI TDB JDI ACYCR |
DEWEY | 003.5 |
DOI | 10.6109/jkiice.2017.21.2.416 |
DatabaseName | DBPIA - 디비피아 Korean Database (DBpia) KoreaScience Korean Citation Index |
DatabaseTitleList | |
DeliveryMethod | fulltext_linktorsrc |
Discipline | Applied Sciences Mathematics |
DocumentTitleAlternate | Robust Tracking and Human-Compliance Control Using Integral SMC and DOB |
DocumentTitle_FL | Robust Tracking and Human-Compliance Control Using Integral SMC and DOB |
EISSN | 2288-4165 |
EndPage | 422 |
ExternalDocumentID | oai_kci_go_kr_ARTI_1337283 JAKO201710758144680 NODE07114301 |
GroupedDBID | .UV ALMA_UNASSIGNED_HOLDINGS DBRKI TDB JDI ACYCR M~E |
ID | FETCH-LOGICAL-k941-6cdefcffaba6a46e077c73a773b9bda04ed13dbd62a7c19f93b17d3abf91d5c33 |
ISSN | 2234-4772 |
IngestDate | Tue Nov 21 21:41:15 EST 2023 Fri Dec 22 11:58:28 EST 2023 Thu Feb 06 13:40:57 EST 2025 |
IsDoiOpenAccess | true |
IsOpenAccess | true |
IsPeerReviewed | true |
IsScholarly | true |
Issue | 2 |
Keywords | Robust Robot Control 외란관측기 Disturbance Observer Compliance Human-Compliance Control 적분슬라이딩모드 Integral Sliding Mode 인간순응제어 강인로봇제어 컴플라이언스 |
Language | Korean |
LinkModel | OpenURL |
MergedId | FETCHMERGED-LOGICAL-k941-6cdefcffaba6a46e077c73a773b9bda04ed13dbd62a7c19f93b17d3abf91d5c33 |
Notes | KISTI1.1003/JNL.JAKO201710758144680 http://jkiice.org G704-SER000003195.2017.21.2.016 |
OpenAccessLink | http://click.ndsl.kr/servlet/LinkingDetailView?cn=JAKO201710758144680&dbt=JAKO&org_code=O481&site_code=SS1481&service_code=01 |
PageCount | 7 |
ParticipantIDs | nrf_kci_oai_kci_go_kr_ARTI_1337283 kisti_ndsl_JAKO201710758144680 nurimedia_primary_NODE07114301 |
PublicationCentury | 2000 |
PublicationDate | 2017 |
PublicationDateYYYYMMDD | 2017-01-01 |
PublicationDate_xml | – year: 2017 text: 2017 |
PublicationDecade | 2010 |
PublicationTitle | 한국정보통신학회논문지 |
PublicationTitleAlternate | Journal of the Korea Institute of Information and Communication Engineering |
PublicationYear | 2017 |
Publisher | 한국정보통신학회 |
Publisher_xml | – name: 한국정보통신학회 |
SSID | ssib036279136 ssib053377456 ssib044738262 ssib015937029 ssib023393675 ssib012146319 |
Score | 1.9884161 |
Snippet | The robot control with safety consideration is required since robots and human work together in the same space more frequently in these days. For safety,... 인간과 로봇이 같은 공간에서 작업을 할 경우가 많아짐에 따라 안전성을 고려한 로봇의 제어가 필요하다. 안정성을 위해서 로봇은 인간의 힘에 순응해야 함으로 낮은... |
SourceID | nrf kisti nurimedia |
SourceType | Open Website Open Access Repository Publisher |
StartPage | 416 |
SubjectTerms | 전자/정보통신공학 |
Title | 적분슬라이딩모드와 DOB를 이용한 강인추종 및 인간순응 로봇제어 |
URI | https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE07114301 http://click.ndsl.kr/servlet/LinkingDetailView?cn=JAKO201710758144680&dbt=JAKO&org_code=O481&site_code=SS1481&service_code=01 https://www.kci.go.kr/kciportal/ci/sereArticleSearch/ciSereArtiView.kci?sereArticleSearchBean.artiId=ART002202742 |
Volume | 21 |
hasFullText | 1 |
inHoldings | 1 |
isFullTextHit | |
isPrint | |
ispartofPNX | 한국정보통신학회논문지, 2017, 21(2), , pp.416-422 |
journalDatabaseRights | – providerCode: PRVHPJ databaseName: ROAD: Directory of Open Access Scholarly Resources customDbUrl: eissn: 2288-4165 dateEnd: 99991231 omitProxy: true ssIdentifier: ssib044738262 issn: 2234-4772 databaseCode: M~E dateStart: 20130101 isFulltext: true titleUrlDefault: https://road.issn.org providerName: ISSN International Centre |
link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwrR1Na9VAMJR60IsoKtaP8hD39MgzyeZj95i8D2pLP8SKvYV8Sn2SyrMPqQdRqCheRGwF5T2ogmDFQw-l9NBf1MT_4MwmTVMp-IGXvH2zMzuzM8nuzCazK0nXg5CbOlepTLmhQYASxjLTokBW8XBjylhkWpjvPD1jTtzRJxeMhZHRW5WvlvrLfiN4cmxeyb9YFWBgV8yS_QvLlo0CAMpgX7iCheH6RzYm7SaxFXAGSdshjkmYjhBmE7uJEN4iThMhWNAFRCc2x4INOExAKOE5DidMqbdmHVFtAGW9QgoFW5C2CDeAAups4ij4p0BiWAAZuMC2NcKMuhAL5OvUK1iCrpCUHTCHZlWBbqsC5CBXZhUdLJBMAFad6VIa0ahB7NYBviFaoEL0FmEm1iI_B2sLqrwzNmGCHTOErhxUXd4X2yKsfJcj-BtCbAfrCyKQkdVL2QoWhTyWaEcg2dUqQGaofI3ZfoIZCvgJjRfgYzjZqyzMiEbQKEKqTmFK0B1IqLHpxUTGpO26OA77KBH0u1WoxBHdZR3COK4H9RN5bgVPl5p67HWPkDmH1mSCb94FjrxuRzAjyN2Vfn1OfFnPq0tFeU6seKz_lz0OJyfwKnVZt_JjlxpRAYPnExx8ozq75vnvxSiiVaZKXTUrXpeeZ6f_OqGb-X6497uLuMMW9qmhqQ2tURIf2Sp9ZrbVBpcZQgDM6DyhWeB84te8T9sHU4yK59jTwx0MwZmnVuXFtEYpp5XtjcC9s2AkKz12Xbcoq-ywCcESxE_ijOhSI3mCLkp-4zi5IQrG0HARnNmkBz7wyaSPB3nAbFBxbOfPSKeLiLRm58PLWWmku3ROupttPE93VrPX39PhXjbcTtc2029f03eD7MOzGgwS6Ze9GoCzj5s_1ge1_a31bLib7axln1_U0q03ULW7v7WavRpkw7e19NMg3X6ZbQyy99vnpflOe745IRdnsMhdrquyGYRRHMSx53ump5uRYlmBRT3Loj73Q0_Ro1CloR-ammcFKo859VUrpJ4fczU0AkovSKPJUhJdlGqKT_XYYGoMDYG1Y8-L9VgLqckUzTQib0waF3pxk_DRA3fSnppFtakQ0jBcs2LKmHQNFOZ2g0UX98TH33tLbrfnQuR_01XBEhAqQSulPt2H-YY9bvW-uPQ7hMvSKWScL7NekUaXe_3oKgQey_64uJV-Ahny7-M |
linkProvider | ISSN International Centre |
openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=%EC%A0%81%EB%B6%84%EC%8A%AC%EB%9D%BC%EC%9D%B4%EB%94%A9%EB%AA%A8%EB%93%9C%EC%99%80+DOB%EB%A5%BC+%EC%9D%B4%EC%9A%A9%ED%95%9C+%EA%B0%95%EC%9D%B8%EC%B6%94%EC%A2%85+%EB%B0%8F+%EC%9D%B8%EA%B0%84%EC%88%9C%EC%9D%91+%EB%A1%9C%EB%B4%87%EC%A0%9C%EC%96%B4&rft.jtitle=%ED%95%9C%EA%B5%AD%EC%A0%95%EB%B3%B4%ED%86%B5%EC%8B%A0%ED%95%99%ED%9A%8C%EB%85%BC%EB%AC%B8%EC%A7%80&rft.au=%EC%95%84%EB%B8%8C%EB%84%88+%EC%96%B4%EC%8B%9C%EA%B7%B8%EB%84%A4%EC%8B%9C%EC%98%A8%28Abner+Asignacion+Jr%29&rft.au=%EA%B9%80%EB%AF%BC%EC%B0%AC%28Min-chan+Kim%29&rft.au=%EA%B3%BD%EA%B5%B0%ED%8F%89%28Gun-Pyong+Kwak%29&rft.au=%EB%B0%95%EC%8A%B9%EA%B7%9C%28Seung-kyu+Park%29&rft.date=2017&rft.pub=%ED%95%9C%EA%B5%AD%EC%A0%95%EB%B3%B4%ED%86%B5%EC%8B%A0%ED%95%99%ED%9A%8C&rft.issn=2234-4772&rft.eissn=2288-4165&rft.volume=21&rft.issue=2&rft.spage=416&rft.epage=422&rft_id=info:doi/10.6109%2Fjkiice.2017.21.2.416&rft.externalDocID=NODE07114301 |
thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=2234-4772&client=summon |
thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=2234-4772&client=summon |
thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=2234-4772&client=summon |