• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.10
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• pp.3873-3879
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• 2010

Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.7
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• pp.63-72
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• 2017

This paper proposes a procedure to improve the operational efficiency of the automotive parts manufacturing process by applying classical IE techniques composed of process analysis, work method analysis, and motion analysis, and a specific application case is outlined. The proposed procedure was developed originally by the Task Force organized in L company's automotive parts manufacturing business unit. The balance efficiency and production capacity were used as measures of operational efficiency. The developed procedure follows the general procedure of analyzing the phenomenon at the manufacturing shop, deriving an improvement solution to solve the problem, evaluating each derived alternative, and implementing it to the field to achieve productivity improvement. Among the methods used in each phase of the procedure, function analysis used in the waste discovery phase and R&R evaluation method used in the alternative assessment phase are unique techniques developed by L company's TF. The R&R Evaluation method techniques are described in detail because this method is highly applicable and extensible. A case of applying developed procedures to improve the EPS motor manufacturing process is discussed. As a result, the line balance efficiency and production capacity were increased to a satisfactory level.