• 한국운동역학회지
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• 제22권1호
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• pp.75-82
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• 2012

The purpose of this study was to suggest the proper shaft and head fitting methods of the golf club to increase the flight distance of the golf ball. Rotations per minute of the golf ball(RPM), ratio of Ball speed to club head speed(T-Ratio) and launch angle right after impact(LA), which are directly related to ball flight distance, were measured using Spectra with shutter speed of 1/1000sec at the constant head speed of 95mph which was controlled by robot golf swing machine. In order to investigate the effect of club shaft to the 3 selected variables, 10 shafts were used to make ten test clubs with one controlled club head which is the most commonly used by golf players. To measure the effect of the club head to the 3 selected variables, 6 golf club heads which are most commonly used by golfers were selected to make 6 test clubs with a controlled shaft which is one of the best known by players. The shafts and the heads were identified by statistical analysis to increase or decrease the RPM, T-ratio and LA. A proper fitting method of the selected shafts and the club head was suggested to increase the ball flight distance in golf.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.43-47
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• 1995

The ball screw is one of the important mechanical parts for the linear motion feeding systems. The usage of the ball screw has been growing in various industrial fields such as CNC machine tool, industrial robot and automated systems. Because of ever increasing demand for ball screws, increased accuracy and quality of the ball screw is needed,especially the surface roughness of the ball contact area in order to diminish noise and vibration. Therefore to improve the surface roughness of the area,we introduced magnetic assisted polishing which is one of the new potential polishing methods. In this study, diamond slurry and iron powder was used for magnetic assisted polishing of the ball bearing surface. This polishing process was experimentally confirmed to improve the surface roughness of the ball bearing.

• 한국지능시스템학회논문지
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• 제22권1호
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• pp.22-27
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• 2012

본 논문에서는 볼 나사의 구동에 의해 물체의 파지가 가능한 로봇 그리퍼 메커니즘을 제시한 후, 시뮬레이션을 통하여 제시한 그리퍼 메커니즘의 파지 동작에서 나타날 수 있는 기구학적인 특성을 분석한다. 이를 위하여 구동기의 관절 공간과 그리퍼의 끝 공간간의 기구학적 관계를 파악한다. 제안한 로봇 그리퍼는 하나의 구동모터를 사용하고, 좌우 대칭인 폐체인(closed-chain)을 형성하고 있는 것이 특징이다. 결과적으로, 제안한 로봇 그리퍼는 구조적으로 외력에 강인하고, 하나의 구동모터에 의해 파지 동작이 구현되므로 수월한 파지가 가능하다. 또한 제안된 그리퍼는 파워 파지에 유용한 조임 효과를 갖는다.

• 한국생산제조학회지
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• 제25권5호
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• pp.354-361
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• 2016

Parallel robots are usually used for performing pick-and-place motion to increase productivity in high-speed environments. The present study proposes a high-speed parallel robot and a control approach to improve the tracking performance for the purpose of handling a solar cell. However, the target processes are not limited to the solar cell-handling field. Therefore, a delta-type parallel manipulator is designed, and a ball joint structure is specifically proposed to increase the allowed angle that would meet the required workspace. A control algorithm considering the synchronization between multiple joints in a closed-chain mechanism is also suggested to improve the tracking performance, where the tracking and synchronization errors are simultaneously considered. In addition, a prototype machine with the proposed ball joint is implemented. A satisfactory tracking performance is achieved by applying the proposed control algorithm, with a cycle time of 0.3 s for a 0.1 kg payload.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2019년도 춘계학술대회
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• pp.436-438
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• 2019

에어하키 로봇은 머신 비전 시스템으로 하키 공을 카메라를 통해 인식하여 사용자와 플레이를 할 수 있다. 하키 공의 위치 감지는 OpenCV 라이브러리를 사용하여 공의 색 정보를 이용하여 인식하게 구현하였다. 하키 공의 위치를 감지하고 또한 그 궤적을 예측하여 결과를 ARM Cortex-M 보드로 전송한다. ARM Cortex-M보드는 2축 직교 로봇을 제어하여 에어 하키 경기를 진행한다. 에어 하키 로봇의 전략에 따라 수비, 공격, 수비과 공격 모드로 동작시킬 수 있다. 본 논문에서는 비전 시스템 개발과 궤적 예측 시스템에 관해 기술하고 에어 하키 경기를 진행하는 2축 직교 로봇을 제어하는 새로운 방법을 제시한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2290-2295
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• 2005

In this paper, it is developed simulator system of 3 D.O.F parallel robot for educate of expertness. This simulator system is composed of three parts ? 3 D.O.F parallel robot, controller (hardware) and software. First, basic structure of the robot is 3 active rotary actuator that small geared step motor with fixed base. An input-link is connected to this actuator, and this input-link can connect two ball joints. Thus, two couplers can be connected to the input-link as a pair. An end-plate, which is jointed by a ball joint, can be connected to the opposite side of the coupler. A sub-link is produced and installed to the internal spring, and then this sub-link is connected to the upper and bottom side of the coupler in order to prevent a certain bending or deformation of the two couplers. The robot has the maximum diameter of 230 mm, 10 kg of weight (include the table), and maximum height of 300 mm. Hardware for control of the robot is composed of computer, micro controller, pulse generator, and motor driver. The PC used in the controller sends commands to the controller, and transform signals input by the user to the coordinate value of the robot by substituting it into equations of kinematics and inverse kinematics. A controller transfer the coordinate value calculated in the PC to a pulse generator by transforming it into signals. A pulse generator analyzes commands, which include the information received from the micro controller. A motor driver transfer the pulse received from the pulse generator to a step motor, and protects against the over-load of the motor Finally, software is a learning purposed control program, which presents the principle of a robot operation and actual implementation. The benefit of this program is that easy for a novice to use. Developed robot simulator system can be practically applied to understand the principle of parallel mechanism, motors, sensor, and various other parts.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.507-510
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• 1996

In this paper we present the multi-agent robot system developed for participating in micro robot soccer tournament. The multi-agent robot system consists of micro robot, a vision system, a host computer and a communication module. Mcro robot are equipped with two mini DC motors with encoders and gearboxes, a R/F receiver, a CPU and infrared sensors for obstacle detection. A vision system is used to recognize the position of the ball and opponent robots, position and orientation of our robots. The vision system is composed of a color CCD camera and a vision processing unit. Host computer is a Pentium PC, and it receives information from the vision system, generates commands for each robot using a robot management algorithm and transmits commands to the robots by the R/F communication module. And in order to achieve a given mission in micro robot soccer game, cooperative behaviors by robots are essential. Cooperative work between individual agents is achieved by the command of host computer.

• 한국전자통신학회논문지
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• 제8권12호
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• pp.1833-1840
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• 2013

골프 연습장에서 골프공 수거 시에 인간보다는 로봇이 사고의 염려가 없고 경제적이어서 골프공 수거 로봇과 골프공 인식 및 위치추적 시스템 개발의 요구가 증가되고 있다. 본 논문에서는 실내 골프 연습장에서 골프공을 수거하는 로봇이 골프공을 인식하고, 위치를 추정할 수 있는 영상처리 알고리즘과 시스템을 OpenCV를 사용하여 개발하였다. 30-180cm 거리에 위치하는 골프공을 대상으로 실험을 수행하였으며, 120cm 이내에서는 87% 이상의 높은 인식률을 얻었으며, 골프공은 실제 거리의 85% 이내에 위치하였다.

• 제어로봇시스템학회논문지
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• 제9권11호
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• pp.906-916
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• 2003

A multi-robot control algorithm using Petri-Net is proposed for 5vs5 robot soccer. The dynamic environment of robot soccer is modeled by defining the place and transition of each robot and converting it into Petri-Net diagram. Once all the places and transitions of robots are represented by the Petri-Net model, their actions can be chosen according to the roles of robots and position of the ball in soccer game, e.g., offensive, defensive and goalie robot. The proposed modeling method is implemented for soccer robot system. The efficiency and applicability of the proposed multiple-robot control algorithm using Petri-Net are demonstrated through 5vs5 Middle League SimuroSot soccer game.

• 한국콘텐츠학회논문지
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• 제20권3호
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• pp.424-431
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• 2020

본 논문은 사용자 위치를 인식하여 공을 자동으로 서브하는 테니스 훈련용의 로봇 개발을 목적으로 한다. 로봇 기술을 스포츠 분야에 활용하는 경우, 야외 환경 및 스포츠 경기 방식의 특수성에 기인하여 시각, 음성과 같은 모달리티 인식에 다양한 문제점이 존재한다. 영상 정보를 이용하여 경기장 내의 사용자 가로 및 깊이 방향의 위치를 인식하는 과정에서, 네트 주위에서의 사용자 자세 변화에 따른 위치 오차 감소를 위해 가우시안 혼합 모델 및 칼만 필터를 적용하고, 이에 따라 해당 위치로 공을 서브하는 기능을 구현하고자 한다. 이를 위해 팬 틸트 기반의 움직임이 가능한 로봇 구동부 및 공압 제어 기반의 공을 발사하는 기능을 구현하고, 이를 다계층의 소프트웨어 구조로 구성하였다. 최종적으로 실험을 통한 추적 기능 및 훈련용 장치의 실효성 및 보완점을 논하고자 한다.