Kwang Sik Eom

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This paper proposes a path-tracking algorithm to compensate for path deviation due to torque limits. The algorithm uses a disturbance observer with an additional saturation element at each joint of n degrees of freedom (DOF) manipulator to obtain a simple equivalent robot dynamic (SERD) model. This model is represented as an n independent double integrator(More)
In this paper, a new 6-dof parallel haptic master device is proposed. Many existing haptic devices require large power due to having floating actuator and also have small workspaces. The proposed new mechanism is relatively light by employing non-floating actuators and has large workspace. Kinematic analysis and kinematic optimal design problem is performed(More)
In this paper, a force estimation method is proposed for force control without force sensor. For this, a disturbance observer is applied to each joint of an n degrees of freedom manipulator to obtain a simple equivalent robot dynamics(SERD) being represented as an n independent double integrator system. To estimate the output of disturbance observer due to(More)
Underwater exploration requires mobility and manipulation. Underwater robotic vehicles(UR y) have been employed for mobility, and robot manipulators attached to the underwater vehicle(i.e., rover) play the role of manipulation. Usually, manipulation mode happens when the rover is stationary. URV is then modeled as a passive joint and the joints of the(More)
In this paper, a transparency-optimized feedback controller with robustness is designed for multi-axis haptic device, where a disturbance observer is employed to decouple the coupling e ect existing in multiaxis haptic device. A performance index for the transparency is de ned in a viewpoint of admittance matching, and the optimal solution minimizing the(More)
This paper presents a design method of transparency optimized feedback controller with robustness for a parallel 6-DOF haptic system. A disturbance observer is employed to eliminate coupling e ects that exist in a mechanically coupled structure. A performance index for the transparency is de ned by admittance matching, and by solving H2 optimal problem, the(More)
In this paper, a fuzzy force control algorithm is suggested for commercialized industrial robots equipped with the position servo drives, where umtrol rules of the proposed t;zzv umtroller are changed accordmg to the magnitude of environmental stiffness in such a way that good force respcmse is maintained regardless of changes of en-tal stiffness. S ~ c a l(More)
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