• 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.

• Journal of Biosystems Engineering
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• 제26권2호
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• pp.163-168
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• 2001

A manipulator for test-cup attachment modules, which was a part of a robot milking system, was developed to reduce cost and labor for cow milking processing. A Cartesian coordinate manipulator was designed for the milking process, because it was quite flexible and can be constructed more economically than any other configuration. The manipulator was made use of DC motors, screws for power transmission, a RS422 interface system for the transmission of coordinate values and a one-chip microprocessor, 89C52. Performance tests of the manipulator were conducted to measure experimentally the precision of all axes. Some of the results are as follows. 1. The Cartesian coordinate manipulator was designed and built. Dimension of the three perpendicular axes (X, Y, and Z) and one arm’s axis(W) to pick up and transfer the modules were 700㎜$\times$450㎜$\times$550㎜$\times$650㎜. The arm’s axis moved the teat-cup attachment module, which attached four teat-cup to four teats, detached four teat-cup from four teats, was designed and manufactured by using CAD, CAM and CNC. 3. After 10 replications of exercising the manipulator, mean precision values(positioning error) of X, Y, Z axes wee 0.48㎜, 0.20㎜, 0.19㎜, respectively. Therefore, we conclude the axes to have a precision better than 0.5㎜, had no problem to operate correctly the milking manipulator.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1992년도 춘계학술대회 논문집
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• pp.127-132
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• 1992

To relize the future intelligent robot the development of a special-purpose processor for a coordinate transformation is evidently challenging task. In this case the complexity of a hardware architecture strongly depends on the adopted algorithm. In this paper we have used an inverse kinemetics algorithm based on incremental unit computation method. This method considers the 3-axis articulated robot as the combination of two types of a 2-axis robot: polar robot and 2-axis planar articulated one. For each robot incremental units in the joint and Cartesian spaces are defined. With this approach the calculation of the inverse Jacobian matrix can be realized through a simple combinational logic gate. Futhermore, the incremental computation of the DDA integrator can be used to solve the direct kinematics. We have also designed a hardware architecture to implement the proposed algorithm. The architecture consists of serveral simple unitsl. The operative unit comprises several basic operators and simple data path with a small bit-length. The hardware architecture is realized byusing the EPLD. For the straight-line motion of the KAIST arm we have obtained maximum end effector's speed of 12.6 m/sec by adopting system clock of 8 MHz.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2012년도 한국컴퓨터종합학술대회논문집 Vol.39 No.1(B)
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• pp.447-449
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• 2012

This paper present an intelligent microcontroller based chess playing robot which can play a board game against opponent and calculate its moves in a non-idealized environment. In this work, for the sake of simplicity task is accomplished by using Cartesian coordinate system. Chess playing system has been designed in such a way that it provides an interface between user and robot to control chess movements using RS232. Various algorithms are implemented for interfacing hardware in C++ language. Our main goal is to design a cost effective and highly accurate robot system that consumes minimal power to complete its task.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2021년도 추계학술발표대회
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• pp.1091-1092
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• 2021

본 논문은 3차원 데카르트 좌표계에 따른 다 관절 로봇 제어의 제어 알고리즘을 제안하려 한다. 제안 기법을 통해 놓고자 하는 좌표 공간의 값을 통해 서보 모터가 취해야 할 각도 값을 구할 수 있고, 이를 통해 다 관절 로봇을 보다 쉽게 제어할 수 있다.

• 대한인간공학회지
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• 제6권2호
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• pp.19-28
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• 1987

If an error occurs in the automatic mode when the advanced teleoperator system performs a task in hostile environment, then the mode changes into the manual mode. The operation by program and the operation by hyman recover the error in the manual mode. The system resumew the automatic mode and continues the given task. In order to utilize the inverse kinematics as means of the operation by program in the manual mode, Lee and Nagamachi determined the end point of the robot trajectory planning which varied with the height of the task object recognized by a T.V monitor, solved the end point by the fuzzy set theory, and controlled the position of the robot hand by the inverse kinematics and the posture of the robot hand by the operation by human. But the operation by human did take a lot of task time because the position and the posture of the robot hand were separately controlled. To reduce the task time by human, this paper developes an error recovery expert system (ERES). The position of the robot hand is controlled by the inverse kinematics of the cartesian coordinate system to the end point which is deter- mined by the fuzzy set theory. The posture of the robot hand is controlled by the modulality of the robot hand's motion which is made by the posture of the task object. The knowledge base and the inference engine of the ERES is developed using the muLISP-86 language. The experimental results show that the average task time by human the ERES which was performed by the integration of the position and the posture control of the robot hand is shorter than that of the research, done by the preliminary experiment, which was performed by the separation of the position and the posture control of the robot hand. A further study is likely to research into an even more intelligent robot system control usint a superimposed display and digitizer which can present two-dimensional coordinate of the work space for the convenience of human interaction.

• 제어로봇시스템학회논문지
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• 제6권8호
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• pp.703-709
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• 2000

This paper proposes a compliance control strategy for the robot manipulators accidentally interact-ing with an unknown environment. In this proposed method each in the diagonal stiffness matrix corre-sponding to the task coordinate in a Cartesian space is adaptively adjusted during contact along the corresponding axis based on the contact force with its environment. This method can be used for both unconstrained and constrained motions without any switching mechanism which often causes undesirable instability and/or vibrational motion of the end-effector. The experimental results show the effectiveness of the proposed method by employing a two link direct drive manipulator interacting with an unknown environment.

• 수산해양기술연구
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• 제48권2호
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• pp.165-173
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• 2012

Nationally, flatfish vaccination has been performed manually, and is a laborious and time-consuming procedure with low accuracy. The handling requirement also makes it prone to contamination. With a view to eliminating these drawbacks, we designed an automatic vaccine system in which the injection is delivered by a Cartesian coordinate robot guided by a vision system. The automatic vaccine injection system is driven by an injection site location algorithm that uses a template-matching technique. The proposed algorithm was designed to derive the time and possible angles of injection by comparing a search area with a template. The algorithm is able to vaccinate various sizes of flatfish, even when they are loaded at different angles. We validated the performance of the proposed algorithm by analyzing the injection error under randomly generated loading angles. The proposed algorithm allowed an injection rate of 2000 per hour on average. Vaccination of flatfish with a body length of up to 500mm was possible, even when the orientation of the fish was random. The injection errors in various sizes of flatfish were very small, ranging from 0 to 0.6mm.

• 한국컴퓨터정보학회논문지
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• 제13권2호
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• pp.235-242
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• 2008

이동자율로봇은 작업 공간을 벗어난 작업에 대하여 높은 성능을 보일 수 있으므로 고정 베이스 구조인 매니플레이터에 비하여 다양한 작업 환경에서 유용하다. 임의의 위치에 있는 물체를 인식하기 위하여 이동자율로봇에 부착된 2자유도의 능동카메라에 의해 입력되는 영상과 능동카메라의 기구학적 관계와 직각좌표계를 이용하여 물체의 위치와 이동로봇의 위치를 구하는 방법을 제시한다. 동차행렬을 이용하여 이미지정보와 물체의 위치를 해석하므로 이동자율로봇의 최적경로를 생성한다. 최종적으로, 물체의 인식을 통하여 이동로봇을 제어할 수 있는 조인트변수의 값을 계산한다. 제안된 방법은 제작된 이동자율로봇의 시뮬레이션과 실험을 통하여 확인되어지고 논의된다.

• Journal of Mechanical Science and Technology
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• 제18권8호
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• pp.1288-1296
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• 2004

Wall-following control problem for a mobile robot is to move it along a wall at a constant speed and keep a specified distance to the wall. This paper proposes wall-following controllers based on Lyapunov function candidate for a two-wheeled mobile robot (MR) to follow an unknown wall. The mobile robot is considered in terms of kinematic model in Cartesian coordinate system. Two wall-following feedback controllers are designed: full state feedback controller and observer-based controller. To design the former controller, the errors of distance and orientation of the mobile robot to the wall are defined, and the feedback controller based on Lyapunov function candidate is designed to guarantee that the errors converge to zero asymptotically. The latter controller is designed based on Busawon's observer as only the distance error is measured. Additionally, the simulation and experimental results are included to illustrate the effectiveness of the proposed controllers.