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...

Full description

Saved in:
Bibliographic Details
Published in한국정보통신학회논문지 Vol. 21; no. 2; pp. 416 - 422
Main Authors 아브너 어시그네시온(Abner Asignacion Jr), 김민찬(Min-chan Kim), 곽군평(Gun-Pyong Kwak), 박승규(Seung-kyu Park)
Format Journal Article
LanguageKorean
Published 한국정보통신학회 2017
Subjects
Online AccessGet full text
ISSN2234-4772
2288-4165
DOI10.6109/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