Journal of Broadcast Engineering (방송공학회논문지)

The Korean Institute of Broadcast and Media Engineers (한국방송∙미디어공학회)
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Development of Robot Performance Platform Interoperating with an Industrial Robot Arm and a Humanoid Robot Actor

산업용 로봇 Arm과 휴머노이드 로봇 액터를 연동한 로봇 공연 플랫폼 개발

  • Cho, Jayang (Korea Institute of Industrial Technology, Human Convergence Technology R&D Department) ;
  • Kim, Jinyoung (Korea Institute of Industrial Technology, Human Convergence Technology R&D Department) ;
  • Lee, Sulhee (Korea Institute of Industrial Technology, Human Convergence Technology R&D Department) ;
  • Lee, Sang-won (Korea Institute of Industrial Technology, Human Convergence Technology R&D Department) ;
  • Kim, Hyungtae (Korea Institute of Industrial Technology, Human Convergence Technology R&D Department)
  • 조자양 (한국생산기술연구원 휴먼융합연구부문) ;
  • 김진영 (한국생산기술연구원 휴먼융합연구부문) ;
  • 이설희 (한국생산기술연구원 휴먼융합연구부문) ;
  • 이상원 (한국생산기술연구원 휴먼융합연구부문) ;
  • 김형태 (한국생산기술연구원 휴먼융합연구부문)
  • Received : 2019.05.19
  • Accepted : 2020.06.17
  • Published : 2020.07.30
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Abstract

For the purpose of next generation technology for robot perfomances, a RAoRA (Robot Actor on Robot Arm) structure was proposed using a robot arm joined with a humanoid robot actor. Mechanical analysis, machine design and fabrication were performed for motions combined with the robot arm and the humanoid robot actor. Kinematical analysis for 3D model, spline interpolation of positions, motion control algorithm and control devices were developed for movements of the robot actor. Preliminary visualization, simulation tools and integrated operation of consoles were constructed for the non-professionals to produce intuitive and safe contents. Air walk was applied to test the developed platform. The air walk is a natural walk close to a floor or slow ascension to the air. The RAoRA also executed a performance with 5 minute-running time. Finally, the proposed platform of robot performance presented intensive and live motions which was impossible in conventional robot performances.

차세대 로봇 공연 기술을 개발하기 위하여 산업용 로봇 arm에 휴머노이드형의 로봇 액터를 부착한 RAoRA (Robot Actor on Robot Arm) 구조를 제안하고, 시스템 연동 제어를 위한 소프트웨어를 탑재하여 로봇 공연 플랫폼을 구축하였다. 로봇 액터와 산업용 로봇 arm의 연동 모션을 위하여 역학적 분석을 수행하고 기계적 메커니즘을 설계 및 제작하였다. 로봇 액터의 동작을 위하여 3D 모델의 기구학적인 분석, spline 위치 보간, 모션 제어 알고리즘 및 제어 장치를 개발하였다. 비전문가도 직관적이고 안전한 공연 콘텐츠를 제작할 수 있도록 사전 시각화, 시뮬레이션 도구 및 콘솔 통합 운영 도구를 개발하였다. 테스트를 위하여 지면에 거의 밀착하여 자연스럽게 걷거나 서서히 공중으로 올라가는 air walk 시연하였고 러닝 타임 5분의 공연에 적용하였다. 그 결과 제안된 로봇 공연 플랫폼은 기존의 로봇 공연에서는 구현이 불가능했던 입체적이고 생동감 있는 모션을 구현할 수 있었다.

Keywords

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