• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.4
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• pp.447-459
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• 2013

Many problems need to be solved before vision systems can actually be applied in industry, such as the precision of the kinematics model of the robot control algorithm based on visual information, active compensation of the camera's focal length and orientation during the movement of the robot, and understanding the mapping of the physical 3-D space into 2-D camera coordinates. An algorithm is proposed to enable robot to move actively even if the relative positions between the camera and the robot is unknown. To solve the correction problem, this study proposes vision system model with six camera parameters. To develop the robot vision control algorithm, the N-R and EKF methods are applied to the vision system model. Finally, the position accuracy and processing time of the two algorithms developed based based on the EKF and the N-R methods are compared experimentally by making the robot perform slender bar placement task.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• v.9 no.2
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• pp.204-207
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• 2005

Until present, most studies about energy efficiency of quadruped walking robot are mathematical modelings, dynamic analysis or simulation consumption energy per period by basic efficiency evaluate in this paper, a quadruped walking robot Titan-VIII is used for walking experience. The total moving length is about 2[m]. The stride length is 0.1, 0.2, 0.3, walking period is changed by 1.0, 1.5, 2.0, 3.0[sec] per each stride length. So consumption energy of 12 cases are measured. The energy efficiency of quadruped walking robot was analyzed by data that is saved by an experiment.

• The Journal of the Convergence on Culture Technology
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• v.8 no.6
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• pp.911-919
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• 2022

In this paper, we analyzed to find out the effects of phonological awareness game using teacher assisted robot on 5-year-old children's reading ability and reading interest. A total of 30 5-year-old children were equally divided into two groups: the experimental group and the control group. The experimental group conducted a total of 16 game activities using an educational robot twice a week for three weeks, the control group conducted the same 16 game activities without the robot during the same period. The results are as follows. Firstly, the experimental group was better in reading ability than that of the control group, especially total scores, word meaning, omission, and replacement. Secondly, the experimental group showed more interest in reading than the control group. From these findings, it can be suggested that phonological awareness games using the educational robot lay foundation to developing and enhancing on 5-year-old children's reading abilities and interest in reading.

• Journal of Intelligence and Information Systems
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• v.29 no.3
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• pp.185-209
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• 2023

With the advent of the 4th industrial revolution, various technologies have received much attention. Technologies related to the 4th industry include the Internet of Things (IoT), big data, artificial intelligence, virtual reality (VR), 3D printers, and robotics, and these technologies are often converged. In particular, the robotics field is combined with technologies such as big data, artificial intelligence, VR, and digital twins. Accordingly, much research using robotics is being conducted, which is applied to distribution, airports, hotels, restaurants, and transportation fields. In the given situation, research on human-robot interaction is attracting attention, but it has not yet reached the level of user satisfaction. However, research on robots capable of perfect communication is steadily being conducted, and it is expected that it will be able to replace human emotional labor. Therefore, it is necessary to discuss whether the current human-robot interaction technology can be applied to business. To this end, this study first examines the trend of human-robot interaction technology. Second, we compare LDA (Latent Dirichlet Allocation) topic modeling and BERTopic topic modeling methods. As a result, we found that the concept of human-robot interaction and basic interaction was discussed in the studies from 1992 to 2002. From 2003 to 2012, many studies on social expression were conducted, and studies related to judgment such as face detection and recognition were conducted. In the studies from 2013 to 2022, service topics such as elderly nursing, education, and autism treatment appeared, and research on social expression continued. However, it seems that it has not yet reached the level that can be applied to business. As a result of comparing LDA (Latent Dirichlet Allocation) topic modeling and the BERTopic topic modeling method, it was confirmed that BERTopic is a superior method to LDA.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.3
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• pp.269-276
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• 2006

Increasing requirements for the high quality of industrial robot performance made the vibration control issue very important because the vibration makes it difficult to achieve quick response of robot motion and may bring mechanical damage to the robot. This paper presents the vibration mechanism of an industrial robot which has flexible joints. The joint flexibility of the robot is modeled as a two-mass system and its dynamic characteristics are analysed. And some characteristics of the two-mass system, especially for the joint of industrial robots, such as disturbance, non-linearity and time-varying characteristics are studied. And finally, some considerations on controller design for the flexible joint of industrial robots are discussed.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.7
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• pp.595-601
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• 2005

A mobile robot system utilizing NDT (Non-Destructive Testing) method is designed and fabricated f3r automatic integrity evaluation of large sized industrial reservoirs and pipelines. The developed mobile robot can crawl over the outer surface of the industrial facilities even though the shape of the structures is various and unsymmetric. The robot detects defects such as pinholes, cracks and thickness reduction at the wall of the facilities using EMAT (Electro-Magnetic Acoustic Transducer). Image processing technology for weld line detection at the surface of the target and host programs including defect detecting algorithms are also developed. Automation of defect detection for these kinds of large facilities using mobile robots is helpful to prevent significant troubles of the structures without danger of human beings under harmful environment.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.7
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• pp.671-678
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• 2006

This article proposes a smooth path generation and time scheduling method for general tasks defined by non-smooth path segments in industrial robotic applications. This method utilizes a simple 3rd order polynomial function for smooth interpolation between non-smooth path segments, so that entire task can effectively maintain constant line speed of operation. A predictor-corrector type numerical mapping technique, which correlates time based speed profile to the smoothed path in Cartesian space, is also provided. Finally simulation results show the feasibility of the proposed algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.3
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• pp.235-241
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• 2007

This paper proposes a self-calibration method of robots those are used in industrial assembly lines. The proposed method is a position compensation using laser sensor and vision camera. Because the laser sensor is cross type laser sensor which can scan a horizontal and vertical line, it is efficient way to detect a feature of vehicle and winding shape of vehicle's body. For position compensation of 3-Dimensional axis, we applied block interpolation method. For selecting feature point, pattern matching method is used and 3-D position is selected by Euclidean distance mapping between 462 feature values and evaluated feature point. In order to evaluate the proposed algorithm, experiments are performed in real industrial vehicle assembly line. In results, robot's working point can be displayed 3-D points. These points are used to diagnosis error of position and reselecting working point.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.36-40
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• 1987

현재 사용되고 있는 작업방식은 로봇과 positioner의 상대적인 위치 및 자세설정에 의하여 작업효율 및 성능향상을 꾀할 수 있음에도 불구하고 비효율적인 방법으로 사용하고 있는 실정이다. 이러한 문제점을 해결하기 위한 방법중의 하나로 로보트와 positioner시스템을 하나의 기구학적 모델로 제어하는 방법이 제시된 바 있다. 상기의 연구에서는 로보트와 positioner(이하 R-P 시스템)간의 협조 제어가 여유자유도제어 방법을 이용하여 가능한 것임을 보였다. 그러나 용접작업과 같은 positioner 위에서의 연속경로 작업에 있어서는 작업공간과 특이성(singularity) 등에 관련된 여러 가지 문제점을 안고 있다. 특이성은 외부의 물리적인 제약이나 로보트의 기하학적 구조의 문제로 발생될 수도 있는데 이때 자유도의 손실을 유발하므로 임의의 원하는 방향으로 움직일 수 없게 된다. 이러한 면에서 R-P 시스템의 조작 성능 평가가 중요한 의미를 갖는다. 본 연구에서는 실제 산업현장에서 이용되고 있는 5 자유도를 갖는 수직 다관절형 로보트와 positioner에 대하여 협조 제어 방법을 검토한다. 그리고 작업공간 내의 조작성능평가를 위하여 Jacobian 행렬을 이용한 조작성지수를 위하여 Jacobian 행렬을 이용한 조작성지수를 도입하고 주어진 작업단면에 대한 이들의 분포를 등고선 그래프로 시각화 한다. 또한 조작성지수를 최대화 하는 알고리즘을 R-P 시스템에 적용하고 시뮬레이션을 통하여 그 타당성을 검토한다

• ICROS
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• v.18 no.2
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• pp.33-38
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• 2012

"시스템 식별(system identification)"이란 신호처리(signal processing)의 한 분야로서, 제어분야에서는, 제어시스템 설계 시 요구되는 제어대상 플랜트(plant)의 수학적 모델을 실제 시스템의 입력과 출력데이터를 활용하여 얻기 위한 필요한 체계적인 절차들을 제공해준다. 본 기법은 물리적 또는 화학적 기초원리(first principles)로부터 시스템 모델을 얻기가 어렵거나 매우 복잡한 경우에 주로 쓰이고 있으며, 이때 따라 산업현장에서도 점차 그 역할이 중요해지고 있다. 제어의 다른 분야와 유사하게 이 분야 또한 매우 수학적이어서 제어로봇시스템 학회지의 이번 호부터 총 4회에 걸쳐서 이 분야의 가장 근본적이며 실제적인 이론과 적용방법 들을 간단한 예제와 함께 다룰 계획이다. 첫 번째 순서로서 이번 호에서는 시스템 식별분야에 대한 빠른 이해를 위해 단순한 정적 그리고 동적인 시스템 예제에 대하여 최소자승법(least squares method)을 통한 시스템 파라미터 추정기법을 설명하며, 시스템 식별기법의 종류 그리고 시스템 식별 수행 시 반드시 거쳐야 단계와 절차를 소개한다.