• ICROS
• /
• v.5 no.1
• /
• pp.41-44
• /
• 1999

• ICROS
• /
• v.5 no.1
• /
• pp.35-40
• /
• 1999

• ICROS
• /
• v.5 no.1
• /
• pp.27-34
• /
• 1999

• ICROS
• /
• v.7 no.6
• /
• pp.26-31
• /
• 2001

• Journal of the Korea Society for Simulation
• /
• v.28 no.2
• /
• pp.149-158
• /
• 2019

This paper introduces an integrated Modeling & Simulation framework for the efficient development of the rescue robot which rescues a wounded patients or soldiers and disposes a dangerous objects or explosive materials in the battlefields and disastrous environments. An integrated M&S(Modeling & Simulation) framework would have enabled us to perform the dynamic simulation program GAZEBO based Software-in-the-Loop Simulation(SILS) which is to replacing the robot platform hardware with a simulation software. An integrated M&S framework would help us to perform designing robot and performance validation of robot control results more efficiently. Furthermore, Tele-operation performance in the unstructured environments could be improved. We review a case study of applying an integrated M&S framework tool in validating performance of mobility stabilization control, one of the most important control strategy in the rescue robot.

• Proceedings of the KIEE Conference
• /
• 2007.04a
• /
• pp.315-318
• /
• 2007

본 논문에서는 이동로봇 바닥에 설치된 여유 개수의 광 마우스를 이용하여 주행 중인 이동로봇의 속도를 효율적으로 추정하는 방안에 대해 기술한다. 먼저, 이동로봇의 속도 벡터와 광 마우스의 속도 벡터간의 관계를 과결정 선형시스템(Overdetermined Linear System)으로 표현한다. 다음, 과결정 시스템에 대한 최소자승 해(Least Squares Solution)로써 이동로봇의 주행 속도를 효율적으로 추정한다. 마지막으로 시뮬레이션을 통해 제안된 이동로봇 주행 속도 추정법의 유효성을 확인한다.

• Journal of Advanced Marine Engineering and Technology
• /
• v.34 no.2
• /
• pp.267-274
• /
• 2010

In this paper, the structure of a gravity compensator was studied, and the 6-axis robot manipulator which is newly developed by applying the gravity compensator is presented to improve the torque performance of the robot joint. The kinematics analysis on the robot was presented. Also, a simulation of the performance of the joint actuator of robot adopting the gravity compensator was presented by applying various springs. According to the simulation results, it was validated that the payload effect on the robot joint actuator adopting the gravity compensator is reduced in proportion to the spring intensity of the gravity compensator.

• Journal of Korea Game Society
• /
• v.18 no.4
• /
• pp.33-42
• /
• 2018

Virtual reality can user experience the virtual world of computer and stimulate user eyesight and emotions. HMD can acquire and stimulate user behavior and sensory information. In this paper, we propose a virtual reality game using robot control. Controlling the robots using various interfaces and synchronizing them with the virtual reality game. In this paper, we use OID mat for robot movement detection based optical code recognition and Kalman filter.

• Journal of the KSME
• /
• v.25 no.2
• /
• pp.117-121
• /
• 1985

SIMAN의 주요한 논리적 특성은 시뮬레이션프로그램이 시스템 모델부분과 실험부분의 두가지로 구성이 되어 있으며, 일반적인 시스템의 모델링과 분석뿐만 아니라, 자재운반시스템, 로봇 시스템, 제조 셀(manufacturing cell), 플렉시블 제조시스템(Flexible Manufacturing System, FMS)등의 모델링에 유용한 특성을 가지고 있어서 생산시스템의 시뮬레이션에 아주 적합한 시뮬레이션 언 어이다. 또 SIMAN은 대형. 중형 컴퓨터는 물론, 16비트 바이크로컵퓨터에서도 사용이 가능하 다(5). 이 글에서는 SIMAN 시뮬레이션 언어를 사용한 생산시스템의 시뮬레이션에 대한 개념과 방법을 고찰하고, 생산시스템의 시뮬레이션에 관한 간단한 사례를 고찰하고자 한다.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2003.10a
• /
• pp.184-184
• /
• 2003