Earticle

The camera embedded wall climbing robot in this paper combines the suction and aerodynamic attraction to achieve good balance between strong adhesion force and high mobility and adopts embedded image processing technique to detect targets on the warehouse inspection. Experimental results showed that the robot can move upward on the wall at the speed of 2.9m/min and carry 5kg payload in addition to 2.5kg self-weight, which record the highest payload capacity among climbing robots of similar size. With two 11.1V lithium-polymer battery, the robot can operate continuously for half hours. A wireless camera system, zigbee protocol module and several sensors was adopted for detecting target objects and dangerous situation on the warehouse wall and for sending alarm signals to remote sensor node or manager.

본 연구는 식당에서 사용하는 외식서빙 로봇의 서비스 절차 및 인터랙션 방식에 중점을 두고 연구한다. 사용자 설문조사,사용자를 관찰하고 고객과 레스토랑 종업원의 인터뷰를 통한 레스토랑 서빙 로봇과 고객의 교류방식을 분석 하고 사용자 요구를 파악하기 위해 사용자 여정 지도를 구축한다. 또한 서비스 절차에서 배달 서비스 뿐만 아니라 주문 서비스, 접대 서비스 및 테이블 정리 등을 모두 서비스 로봇이 행하는 것을 의도한다.최종 제안 연구 목적은 기존의 서빙 로봇 GUI을 개선하고 새로운 서비스 청사진을 설계하는 것이다.

This study focuses on the analysis of the service process and interaction mode of the serving robot used in the restaurant, Through user research, shadowing research and indepth interviews with customers and catering service personnel, this paper analyzes the contact points between catering service machines, people and users, constructs user journey map to understand users' expectations. In addition to the delivery service that can be allocated to the machine and people, the blueprint construction of ordering, reception and table cleaning services can also included in the service process. The final proposal is to improve the existing machine human interface and design a new service scheme.

지능정보사회에서 지능로봇의 도입 및 수용에 따라 새로이 제기되는 가치판단의 문제들은 로봇윤리담론의 성장을 이끌고 있다. 로봇윤리는 인공지능 및 지능로봇이 내리는 의사결정이 인간사회에 영향을 미치는 상황을 기본적인 전제로 삼으며, 특히 인간의 생활세계에서 함께 공 존하는 사회적 로봇의 맥락에서 보다 특별한 윤리적 고려가 요청된다고 할 수 있다. 본 논문에서는 로봇윤리담론의 연구성과들을 거시적인 관점에서 조망하면서 논의의 전반적 인 추이 및 동향, 그리고 유의미한 성찰점들을 제시해보고자 한다. 이때 특히 기존의 윤리담론이 상정하고 있는 논의의 전제들을 넘어서거나 적어도 우회하는 대안적 접근에 주목하고자 한다. 이러한 접근은 근대윤리담론에 대한 대안적 성격을 갖는다는 점에서 탈근대적인 방향성을 내포 하고 있다는 평가가 가능할 수도 있겠다. 이를 위해 먼저 로봇윤리의 범주를 세 가지로 구분하고, 로봇윤리에서 주로 다루어지는 지능 로봇의 유형 스펙트럼을 개략적으로 제시한 후, 사회적 로봇이 갖는 독자적 속성 및 특수한 쟁점 을 언급하도록 한다(Ⅱ). 또한 사회적 로봇을 주된 상황적 전제로 하여, 기존의 근대적 윤리담론에 대해 대안적 성격을 갖고 있다고 할 수 있는 로봇윤리의 담론 추이를 다음과 같이 크게 네 가지로 쟁점화한다: i) 자율적인 행위자로서 지능로봇의 윤리적 책무성; ii) 인간과 로봇의 상호작용과 동반자 관계; iii) 인간과 로봇의 정서적 소통과 공감; iv) 로봇을 통한 인간의 역량 강화와 상호진화의 가능성. 이렇듯 로봇윤리담론의 추이에 대한 분석을 통해, 먼저 i) 윤리적 행위자로서 지능로봇을 승인하 기 위하여 기존의 법⋅윤리 개념을 확장적으로 재구성⋅재해석하거나, 인공지능 및 지능로봇에 적합한 새로운 개념들을 창설하려는 시도를 발견할 수 있다. 또한 ii) 인간-로봇 상호작용의 연구 성과에서 잘 나타나듯이 의인화 등 로봇과 관계 맺는 인간의 반응에 주목하면서, ‘정신’에서 ‘신 체’로, 그리고 ‘실재’에서 ‘현상’으로의 관심 전환을 이끌었으며, 이와 더불어 인간-로봇의 관계에 대한 인식이 주종관계에서 동반자관계로 나아가고 있다고 평가할 수 있겠다. 나아가 iii) 인간과 로봇 사이의 상호작용이 갖는 호혜성에 대한 강조는 윤리적 가치판단에 있어서 ‘이성’보다 ‘감정’ 및 ‘공감’의 정서를 중요시하는 논의로 연결된다. 마지막으로 iv) 이러한 소통적 관계는 새로운 기계 종인 로봇과의 상호작용으로 인해 인간 스스로의 자기이해가 변화하고 인간의 전반적인 역량이 강화될 수 있다는 공진화의 가능성에 대한 논의에서 극대화된다(Ⅲ). 인간과 로봇의 상호작용이 인간 자신의 자기이해와 인간적 좋음 및 행복에 기여한다는 윤리 적 논의의 지평은 로봇윤리를 인간윤리의 연장선상에서 이해하도록 하며, 이때 로봇윤리와 휴머 니티와의 양립가능성을 바라볼 수 있게 된다(Ⅳ).

In the intelligent information society, several issues raised by artificial intelligence and intelligent robots have led the growth of robot ethics discourse. Ethical issues in robotics are accompanied when a series of decisions made by intelligent robots significantly affect human society. This is especially apparent in the context of social robots interacting and coexisting with human in the real life-world. In this paper, the author takes a view of overall trends of robot ethics discourse and suggests several significant implications for existing legal and ethical theory. Here, the paper focuses on alternative approaches that go beyond or at least bypass the major premises of existing ethical discourse. These approaches could be interpreted as the alternatives to modern ethical theories and therefore inherently having a postmodern directivity. First, the author provides three categories of robot ethics, outlines the types of intelligent robots, and then describes the unique attributes and issues of social robots(II). Furthermore, the paper suggests major alternative approaches to robot ethics discourse as follows: i) ethical accountability of intelligent robots as autonomous agents; ii) human-robot interaction and partnership; iii) emotional communication and empathy between human and robot; and iv) human capabilities and the possibility of co-evolution(III). Finally, as a concluding remark, the author provides future prospects of robot ethics compatible with humanity(IV).

본 연구는 중학교 학생이 인식하는 지능형로봇 교사와의 관계형성 요인을 탐색하여 지능형로봇 교사-학습자 간의 관계성을 설명하고자 하였다. 이에, 기존에 개발된 교사-학생 관계 측정 도구를 지능형로봇 교사 맥락에 맞게 재구 성하여 283명의 중학교 1학년 학생을 대상으로 설문조사를 진행하였다. 이후, SPSS 23과 Amos 21 프로그램을 활용하 여 탐색적 요인분석 및 확인적 요인분석을 실시하였다. 연구결과 중학생이 인식하는 지능형로봇 교사와의 관계형성 요 인은 ‘신뢰감’, ‘유능감’, ‘감정교류’, ‘포용력’이며, 이러한 하위요인들은 중학생이 지능형 로봇과의 관계형성을 설명하는 데 근거를 제시하고 있다. 본 연구는 지능형로봇 교사-학습자 간의 유의미한 상호작용 증진을 위한 방안에 대한 논의 뿐 아니라 지능형 로봇을 기반으로 한 교수법을 제시하는 데에도 활용될 수 있을 것이라 판단된다. 또한, 교육용 지능형 로봇 서비스의 이해 및 개발을 지원하는 연구로써 공헌할 것이다. 이상의 연구결과를 바탕으로 추후 연구에서는 지능형 로봇 교사에 대한 다양한 학교 구성원(교사, 학부모 등)의 인식을 조사하여 교육현장에서의 인간-로봇 상호작용 연구가 계속되어야 할 것이다.

This study aimed to explore the relationship between Intelligent Robot Reacher(IRT)-student by examining the factors of their relationship perceived by middle school students. In doing so, we developed questionnaires based on the existing teacher-student relationship scale and conducted an online survey of 283 first graders in middle school. The collected date were analyzed using exploratory factor analyses with SPSS 23 and confirmatory factor analysis with Amos 21. The study findings identified four factors of IRT-student relationship namely “trust”, “competence”, “emotional exchange”, and “tolerance”. It is expected that the study can be used to discuss ways to enhance educationally significant interaction between students-IRT and teaching methods using intelligent robots(IRs). Also, the study will contribute to the understanding and development of various services using IRs. Based on the study finidngs, future studies should investigate the perception of various education stockholders (teachers, parets, etc) on IRT to elevate the Human-Robot Interaction in the education field.

본 연구는 지능형 로봇에 대한 이해, 지능형 로봇의 위해성 분석, 지능형 로봇 안전관리 주요현황, 지능형 로봇 안전관리 추진방안 등을 통한 지능형 로봇 안전관리 발전방안을 제시하였다. 본 연구에서 도출된 연구결과는 다음과 같다. 첫째, 지능형 로봇 개발 및 보급 촉진법, 시행령, 시행규칙 등 관련법규에 지능형 로봇의 안전관리를 실질적으로 규제할 수 있는 조항을 신설하거나 별도의 법규를 제정하고, 나아가 윤리 및 안전 관련법규에도 지능형 로봇에 대한 안전관리 관련조항을 신설하는 방안을 추진해야 한다. 둘째, 지능형 로봇에 대한 안전관리를 보장하기 위해 국가적, 국제적인 합의를 통한 ‘로봇윤리헌장’의 제정이 필요하다. 이와 병행해 인간과 로봇의 공존을 위한 로봇윤리헌장의 대국민 홍보를 통해 일반인들의 지능형 로봇에 대한 안전관리 의식을 유도하고 지능형 로봇의 권리에 대한 이해를 제고하여야 한다. 셋째, 경호경비 관련 업계 및 학계는 지능형 로봇이 경호경비산업에 미치는 중대한 영향을 인식하고 지능형 로봇에 대한 안전관리 및 그 활용방안을 모색하여야 한다. 군사 로봇, 보안 로봇 등 지능형 로봇의 운용, 관리뿐만 아니라 이로부터 인간을 안전하게 보호하는 것도 경호경비의 한 분야로 부각될 전망이므로 이에 대한 적극적인 논의와 대응이 필요하다.

The purpose of this study is to progress the development plan of safety management on the intelligent robot through safety analysis on the intelligent robot, major present condition of safety management on the intelligent robot, enforcement method of safety management on the intelligent robot. The following is the result of the study. First, we have to establish the provision or the special legislation to regulate the safety management of the intelligent robot substantially in the intelligent robot development and supply promotion law, the enforcement ordinance, the enforcement regulation. And, we should propel to establish the provision on the safety management of the intelligent robot in the laws related on ethics and safety. Second, we should establish the Robot Ethical Charter through the national and international agreement to give a guarantee against the safety management of the intelligent robot. Furthermore, we have to induces people's interest on the safety management of the intelligent robot through offering the public information of the Robot Ethical Charter for coexistence of human and robot and have to understand about rights of the intelligent robot. Third, the security industry and learned circles have to recognize the important effect that the intelligent robot gets in the security industry and try to grope the safety management and the application plan on the intelligent robot. Also, the security industry and learned circles should concern not only using and managing of the intelligent robot including the military robot, the security robot but also protecting human from the intelligent robot.

현대의 기업경영에서 생산성과 효율성을 높이기 위해 제조 현장에 로봇기술의 도입은 핵심적인 기업경영 사항 중에 하나이다. 이에 본 연구는 국내 중소 제조기업을 대상으로 지능형 로봇 기술 도입이 기술, 조직, 환경특성 의 총 6개 변수(인지된 직접적 유익성, 인지된 간접적 유익성, 혁신성, 위험감수성, 인지된 산업압력, 인지된 정부압 력)가 기업의 프로세스 혁신에 어떤 영향을 미치는지 검증하고자 하였다. 총 77개의 중소 제조기업의 자료로 Partial Least Square(PLS) 접근방법을 사용하여 연구모형의 변수간 인과관계를 분석하였다. 연구결과, 인지된 정부압력을 제 외한 총 5가지 요소들이 기업 프로세스 혁신에 중요한 영향을 미치는 것으로 나타났다. 이러한 연구결과를 바탕으로 지능형 로봇을 도입하여 기업 프로세스 혁신을 위한 이론적, 실무적 시사점을 제시하였다.

Robot technology has become a crucial part of today’s business operation. In fact, more manufacturing firms have been utilizing robot technology in order to increase operational efficiency and productivity. Thus, this study develops the research model investigating firms; behavior for process innovation with intelligent robot. Three categories – Technical, Entrepreneur, and Environmental characteristic – are proposed in the research model as determinants of process innovation. These three characteristics include six variables(Perceived Direct Usefulness, Perceived Indirect Usefulness, Innovation, Risk Senstivity, Perceived Industry Pressure, and Perceived Government Pressure) as influencing factors on process innovation. The data from 77 employee at manufacturing firms were analyzed to test proposed hypotheses. The results reveal that all variables with exception of Perceived Government Pressure have a significant influence on process innovation. Based on the study results, theoretical and practical implications for process innovation with intelligent robot technology are discussed.

최근 국내에서는 로봇에 대한 일반인들의 관심이 높아지고 있다. 로봇은 사람과 유사한 모습과 기능을 가진 기계, 또는 무엇인가 스스로 작업하는 능력을 가진 기계를 말한다. 본 논문에서는 지능형 휴머노이드 로봇을 이용한 보드게임을 설계 개발 하고자 한다. 제안하는 주사위 게임은 휴머노이드 로봇에서 주사위를 던지는 모션을 마이컴 임베디드 시스템에서 랜덤한 동작으로 제어하는 프로그램을 작성 하여 실행 시켜 보았다. 주사위 게임의 모션은 왼쪽던지기, 오른쪽던지기, 정면던지기 동작으로 구성한다. 이를 통하여 로봇 게임을 통한 유아 및 노인들의 인지 훈련에 도움을 주고자 한다.

Recent domestic robot for the public interest is growing. Obviously someone with a similar look and functionality of the machine, or what is the ability to work with the machines themselves say. In this paper, an intelligent humanoid robot is used to develop a board game design. To offer the dice in the dice game, throwing humanoid robot motion control microcomputer embedded systems operating in the random write a program by running the saw. The motion of throwing the dice on the left, right, throwing, head-tossing behavior to configuration. Through this game with the robot is trained to help their children and the elderly are to give.

현재 우리 사회에서 자주 언급되고 있는 단어들 중 하나는 스마트 머신이라 할 수 있다. 스마트 머신은 똑똑하거나 혹은 지능적인 기능을 포함한 기계를 의미한다. 이러한 스마트 머신이 최근 우리 가정환경에서 적용되고 있는 사례들이 늘어나고 있다. 바로 스마트 홈의 결과로서 발생하는 현상들이다. 스마트 홈 환경에서 스마트 스피커는 전통적인 음악 재생 의 기능에서 벗어나 이제는 스마트 홈의 다양한 구성 요소인 디바이스들을 제어하는 인터페이스 역할이 증대되고 있다. 본 연구에서는 국내, 외 스마트 스피커 시장의 기술 동향 등을 살펴보고, 현 제품들에 대한 문제점을 분석하였으며, 필요한 핵심기술에 대해 기술하였다. 국내 스마트 스피커 시장에서는 SKT와 KT가 관련 산업을 리드하고 있으며, 반면에 국외에서 는 대표적인 IT 기업인 아마존, 구글, 애플 등이 관련 제품의 출시 및 기술 개발에 주력하고 있다.

One of the words frequently mentioned in our society today is the smart machine. Smart machines are machines that contain smart or intelligent functions. These smart machines have recently been applied in our home environment. These are phenomena that occur as a result of smart home. In a smart home environment, smart speakers have moved away from traditional music playback functions and are now increasingly serving as interfaces to control devices, the various components of a smart home. In this study, the technology trends of domestic and foreign smart speaker market are examined, problems of current products are analyzed, and necessary core technologies are described. In the domestic smart speaker market, SKT and KT are leading the related industries, while major IT companies such as Amazon, Google and Apple are focusing on launching related products and technology development.

This paper presents the design and experimental validation of an intelligent tire alignment and lifting control system for an under-vehicle autonomous parking robot. The proposed system enables the robot to autonomously enter beneath a vehicle, recognize tire positions using a LiDAR-based sensing module, and perform precise lifting through a fork-type mechanism. A YOLOv8 instance segmentation algorithm is employed to detect tire regions from LiDAR point cloud data and estimate their geometric centers. The detected tire positions are then matched with a vehicle database to determine the correct alignment for lifting. Experiments were conducted on three different vehicle types under various surface conditions. The results show that the proposed system achieved a tire recognition accuracy exceeding 95%, a lifting success rate of 100%, and an average lifting operation time of 12.3 seconds. These results demonstrate the reliability and practicality of the proposed method for real-world autonomous parking applications.

본 논문에서는 지능을 대신하는 센서들 특히 시각을 채용한 이동형 로봇을 설계하였으며, 다양한 서비스 제공에 필요한 장애물 회피와 추적방법등을 다룬다. 사용된 알고리즘 중 색상의 정보와 움직임 정보를 처리하는 알고리즘과 형태 정보를 알아내기 위한 알고리즘을 사용하였으며, 색상 정보 데이터와 형태정보 데이터를 합성하여 보다 정확한 물체의 정보를 인식할 수 있게 하였다. 또한, 이동로봇의 기능을 수행하기 위하여 이동 하드웨어를 구현하여 노트북을 위에 얹는 형식으로 지능형 이동 로봇으로의 기능을 수행할 수 있게 하였다. 이동 하드웨어 위에 노트북을 얹어서 로봇의 제어 속도를 높이고 신호의 잡음을 없애고 정확하게 정보를 전달 받게 하기 위해 직렬 통신으로 연결하여 제작하였다.

We designed a mobile robot composed of Uart network, vision camera and several sensors in an environment, and show object avoiding and tracking methods necessary for providing diverse services desired by the people. Particularly, the Algorithms based on colour information has been used for dealing with colour and motion information and motion tracking. In addition, mixing detecting information of configuration with colour information also order to detect information of object more precisely. Furthermore, it is possible to put the laptop on the body of robot through the mobile hardware embodiment, in order to accomplish the function of more intelligent mobile robot with improved control speed without noise.

Intelligent robots commonly adopt Network-Based Control Systems (NBCS). For control of a robot hand or a robot head, many sensor data and control commands need to be transmitted in real time, so they have necessitated communication systems with high transmission capability. Traditionally, CAN is widely used for intelligent robots, but it presents bandwidths that are too low for the control of a high performance system. In this paper, the relation between the transmission period and the performance of a multi-motor control system is analyzed, and a multi-motor control system for a human robot hand is implemented based on the FlexRay communication system, which is an emerging in-vehicle communication network system. FlexRay parameter optimization for a robot system is studied, and a real position control test is conducted, to validate the implemented system.

The Army has presented eight game-changers for future warfare through 'Army Vision 2050,' including Intelligent Combat Robots, Super Soldiers, Energy Weapons, Hypersonic Weapons, Non-lethal Weapons, Autonomous Mobile Equipment, Intelligent Command and Control Systems, and Energy Supply Systems. This study focuses on Intelligent Combat Robots, considering them as the most crucial element among the mentioned innovations. How will Intelligent Combat Robots be utilized on the future battlefield? The future battlefield is expected to take the form of combined human-robot warfare, where advancements in science and technology allow intelligent robots to replace certain human roles. Especially, tasks known as Dirty, Difficult, Dangerous, and Dull (4D) in warfare are expected to be assigned to robots. This study suggests three forms of Intelligent Robots: humanoid robots, biomimetic robots, and swarm drones.

This study focuses on the development of intelligent combat robot systems for future warfare. The research is structured as follows: First, the introduction presents the rationale for researching intelligent combat robots and their potential to become game changers in future warfare. Second, in the context of the intelligent robot paradigm, this study proposes the need for military organizations to innovate their combat concepts and weapon systems through the effective utilization of Artificial Intelligence, Cognitive, Biometric, and Mechanical technologies. This forms the theoretical background of the study. Third, the analysis of intelligent robot systems considers five examples: humanoid robots, jumping robots, wheeled and quadrupedal pack robots, and tank robots. Finally, the discussion and conclusion propose that intelligent combat robots should be selected as game changers in military organizations for future warfare, and suggest further research in this area.

In this research, intelligent sliding mode controls are presented as robust controls for robot manipulators. The objective of the study is to design controls for robot manipulators without the knowledge of the boundary of the uncertainties by using an intelligent sliding mode control (SMC) while elucidating the robustness of the fuzzy SMC. A sliding mode control provides for unlimited accuracy in presence of bounded disturbance, although the sliding mode controller also causes chattering. Chattering is undesirable for use with actual component, since it might causes damage to them with a subsequent loss of accuracy. Such chatter is caused by overestimation of the controller gain. An intelligent sliding mode is proposed as a solution to the problems created by chattering; to illustrate, a continuum robot manipulator is simulated with an intelligent sliding mode control. The performance of intelligent gain sliding mode controller is demonstrated through the simulation results. The results of the simulations show the effectiveness for chattering mitigation by means of avoiding overestimation, and the robustness of an intelligent sliding mode control.

Robot-assisted MIDCAB and Endoscopic coronary artery bypass (TECAB) operations are being performed with the DaVinci system. In this paper, we propose an adaptive feedback linearization control scheme (AFC) for continuous-time,multiple input-multipleoutput (MIMO) linear time-varying uncertain robotic system. The AFC consists of a fuzzy controller with adaptivemechanism to reconstruct the system states using the trackingerror and to make the state error reach the equilibrium point ina finite time period quickly. The sliding surface is first employedto represent the state error to reach the equilibrium point ina finite time period using adaptive theory. Then, a fuzzy controller usingsliding surface is developed to achieve the feedback linearization control performanceand the state tracking errors performance quickly. The reachingmode of the uncertain system using the proposed fuzzy sliding surface adaptive feedback linearization controller is guaranteed.Moreover,thechatteringaround the slidingsurface for the proposedcontrolcan bereduced.This method has an acceptable accuracy regarding to three nonlinear method; sliding surface technique, fuzzy logic and feedback linearization method. Therefore it can guarantee the performance of multi degrees of freedom joint in robot-assisted MIDCAB.

Robotic surgery, computer-assisted surgery, and robotically-assisted surgery are terms for technological developments that use robotic systems to aid in surgical procedures. Robotically-assisted surgery was developed to overcome the limitations of minimally-invasive surgery and to enhance the capabilities of surgeons performing open surgery. In the case of robotically-assisted minimally-invasive surgery, instead of directly moving the instruments, the surgeon uses one of two methods to control the instruments; either a direct telemanipulator or through computer control. A telemanipulator is a remote manipulator that allows the surgeon to perform the normal movements associated with the surgery whilst the robotic arms carry out those movements using end-effectors and manipulators to perform the actual surgery on the patient. In computer-controlled systems the surgeon uses a computer to control the robotic arms and its end-effectors, though these systems can also still use telemanipulators for their input. One advantage of using the computerised method is that the surgeon does not have to be present, but can be anywhere in the world, leading to the possibility for remote surgery. The multi degrees of freedom actuator is an important joint, which has attracted worldwide developing interests for its medical, industry and aerospace applications. This paper addresses the problem of trajectory tracking of three dimensions joint in the presence of model uncertainties and external disturbances. An adaptive fuzzy sliding mode controller (AFLSMC) is proposed to steer a three dimension joint along a desired trajectory precisely. First, the dynamics model of a three dimension joint is formulated and the trajectory tracking problem is described. Second, a sliding mode controller (SMC) is designed to track a time-varying trajectory. The fuzzy logic system (FLS) is employed to approximate the uncertain model of the three dimension joint, with the tracking error and its derivatives and the commanded trajectory and its derivatives as FLS inputs and the approximation of the uncertain model as FLS output. And a fuzzy logic system is also adopted to attenuate the chattering results from the SMC. The control gains are tuned synchronously with the sliding surface according to fuzzy rules, with switching sliding surface as fuzzy logic inputs and control gains as fuzzy logic outputs. The stability and convergence of the closed-loop controller is proven using the Lyapunov stability theorem. Finally, the effectiveness and robustness of the proposed controller are demonstrated via simulation results. Contrasting simulation results indicate that the AFLSMC attenuates the chattering effectively and has better performance against the SMC.

The control problem for manipulators is to determine the joint inputs required to case the end-effector execute the commanded motion. The nonminimum phase characteristic of a rigid manipulator makes the design of stable controller that ensures stringent tracking requirements a highly nontrivial and challenging problem. A useful controller in the computed torque family is the gravity controller. To compensate the dynamic parameters, fuzzy logic methodology is used and applied parallel to this method. When the arm is at rest, the only nonzero terms in the dynamic is the gravity. Proposed method can cancels the effects of the terms of gravity. In this case inorder to decrease the error and satteling time, higher gain controller is design and applied to nonlinear system.

According to this research, a new intelligent-based parallel gravity controller is proposed for industrial robot arm. All model-base conventional controllers are related to dynamic model of systems especially in uncertain systems. To solve this challenge intelligent theory and partly linear methodology are play important role. Fuzzy logic theory is used to estimate the nonlinear dynamic part of robot manipulator and to improve the fuzzy performance PD gravity is used. To estimate the 2 DOF robot manipulator system’s dynamic, proportional plus modified derivative with 7 rules Mamdani inference system is design and applied to modified PD gravity methodology. The proportional coefficient of controller is tuned by new methodology in limitation uncertainties. The results demonstrate that the proposed controller is a partly model-free controllers which works well in certain and partly uncertain system.

Design of a robust controller for multi input-multi output (MIMO) nonlinear uncertain dynamical system can be a challenging work. This research paper focuses on the design and analysis of a high performance PID like fuzzy controller for flexible robot manipulator, in presence of uncertainties. In this research, fuzzy logic controller is a stable nonlinear controller, which selected to control of our nonlinear system. The proposed approach effectively combines of design methods from linear Proportional-Integral-Derivative (PID) controller and fuzzy logic theory to improve the performance, stability and robustness of the flexible robot manipulator. To solve system’s dynamic nonlinearity, the PID fuzzy logic controller is used as a PID like fuzzy logic controller. The PID like fuzzy logic controller is updated based on gain updating factor. In this methodology, fuzzy logic controller is used to estimate the dynamic uncertainties. In this methodology, PID like fuzzy logic controller is evaluated. PID like fuzzy logic controller has three inputs, Proportional (P), Derivative (D), and Integrator (I), if each inputs have 𝑁 linguistic variables to defined the dynamic behavior, it has 𝑁×𝑁×𝑁 linguistic variables. To solve this challenge, parallel structure of a PD-like fuzzy controller and PI-like fuzzy controller is evaluated. In the next step, the challenge of design PI and PD fuzzy rule tables are supposed to be solved. To solve this challenge PID like fuzzy controller is replaced by PD-like fuzzy controller with the integral term in output. This method is caused to design only PD type rule table for PD like fuzzy controller and PI like fuzzy controller.

Robot path planning is an important part of the development of autonomous systems. Numerous strategies have been proposed in the literature regarding mobile robots but trajectory planning for manipulators is considerably more difficult since the entire structure can move and therefore produce collisions with surrounding obstacles. This paper presents an original solution and analytical comparison to path planning for manipulator arms. Path planning is executed in two parts: first, a global path is found to guide the end-effector in the environment using artificial potential fields and multi-resolution occupancy grids, then, a local path is determined for the entire robot structure by considering the kinematics of the robot as well as the repulsive forces of nearby obstacles in a fuzzy logic controller. Results are shown from a simulator that has been built for this purpose. The contribution of this research is to develop a robust solution for path planning with collision avoidance: one that can be used for various manipulator arms and environment configurations.