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Abstract It is not easy to know the accurate mass and mass moment of inertia of robot. Because of this uncertainty, error may exist when we control the robot based on the inaccurate mass information. Moreover the properties of the portable robot can change during its operation. Therefore we developed the motion simulator based on the adaptive control. First, the computed torque control was carried out in order to minimize an error between target angles and real angles. The computed torque control is based on the equation of robot motion, which is derived from the Lagrange-Euler equation. To minimize the error between the real model and the approximated model, the adaptive control was carried out. During this simulation, the interference check was also carried out. The interference check verifies that the robot can move successfully without any collision.
Publication Date 2012-10-01
Role Corresponding Author
Category KCI

구남국, 하솔, 노명일, "적응 제어 기반 Portable 용접 로봇 시뮬레이터 개발", 대한조선학회 논문집, 49권, 5호, pp. 400-409, 2012.10.


List of Articles
번호 분류 제목 Publication Date
12 International Journal Myung-Il Roh, Kyu-Yeul Lee, "Development of a 3D CAD System for Modeling Hull Structure at the Initial Ship Design Stage", Ships and Offshore Structures, Vol. 1, No. 2, pp. 135-151, 2006.04.01 file 2006-04-01
11 International Journal Kyu-Yeul Lee, Myung-Il Roh, Hyuk-Su Jeong, "An Improved Genetic Algorithm for Multi-Floor Facility Layout Problems Having Inner Structure Walls and Passages", Computers & Operations Research, Vol. 32, No. 4, pp. 879-899, 2005.04.01 file 2005-04-01
10 International Journal Kyu-Yeul Lee, Won-Joon Lee, Myung-Il Roh, "Development of a Semantic Product Modeling System for Initial Hull Structure in Shipbuilding", Robotics and Computer-Integrated Manufacturing Journal, Vol. 20, No. 3, pp. 211-223, 2004.06.01 file 2004-06-01
9 International Journal Kyu-Yeul Lee, Seong-Nam Han, Myung-Il Roh, "An Improved Genetic Algorithm for Facility Layout Problems Having Inner Structure Walls and Passages", Computers & Operations Research, Vol. 30, No. 1, pp. 117-138, 2003.01.01 file 2003-01-01
8 International Journal Kyu-Yeul Lee, Seong-Nam Han, Myung-Il Roh, "Optimal Compartment Layout Design for a Naval Ship Using an Improved Genetic Algorithm", Marine Technology and SNAME News, Vol. 39, No. 3, pp. 159-169, 2002.07.01 file 2002-07-01
7 International Journal Kyu-Yeul Lee, Seonho Cho, Myung-Il Roh, "An Efficient Global-Local Hybrid Optimization Method Using Design Sensitivity Analysis", International Journal of Vehicle Design, Vol. 28, No. 4, pp. 300-317, 2002.07.01 file 2002-07-01
6 International Journal Kyu-Yeul Lee, Myung-Il Roh, Seonho Cho, "Multidisciplinary Design Optimization of Mechanical Systems Using Collaborative Optimization Approach", International Journal of Vehicle Design, Vol. 25, No. 4, pp. 353-368, 2001.11.01 file 2001-11-01
5 International Journal Kyu-Yeul Lee, Myung-Il Roh, "An Efficient Genetic Algorithm Using Gradient Information for Ship Structural Design Optimization", Journal of Ship Technology Research, Vol. 48, No. 4, pp. 161-170, 2001.11.01 file 2001-11-01
4 International Journal Kyu-Yeul Lee, Myung-Il Roh, "A Hybrid Optimization Method for Multidisciplinary Ship Design", Journal of Ship Technology Research, Vol. 47, No. 4, pp. 181-185, 2000.10.01 file 2000-10-01
3 International Journal Myung-Il Roh, Sol Ha, "Advanced Ship Evacuation Analysis Using a Cell-Based Simulation Model", Computers In Industry, Vol. 64, No. 1, pp. 80-89, 2013.01.01 file 2013-01-01
» Domestic Journal 구남국, 하솔, 노명일, "적응 제어 기반 Portable 용접 로봇 시뮬레이터 개발", 대한조선학회 논문집, 49권, 5호, pp. 400-409, 2012.10. file 2012-10-01
1 Domestic Journal 하솔, 조윤옥, 구남국, 이규열, 노명일, "손상 선박의 자세를 고려한 여객선 승객 탈출 시뮬레이션", 대한조선학회 논문집, Vol. 50, No. 3, pp. 175-181, 2013.06.01 file 2013-06-01
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