• Journal of the Korean Institute of Telematics and Electronics
• /
• v.26 no.9
• /
• pp.1332-1339
• /
• 1989

The problem of finding an admissible object trajectory for a cooperating two-robot system is investigated. The method is based on reformulating the problem as a nonlinear optimization problem with equality constraints in terms of the joint variables. The optimization problem is then solved numerically on a computer. The solution automatically gives the corresponding joint variable trajectories as well, thus eliminating the need for solving the inverse kinematic problem. The performance indices are chose in joint and cartesian spaces and computer simulations are performed.

• International Commerce and Information Review
• /
• v.6 no.3
• /
• pp.137-157
• /
• 2004

It is very necessary to find how to develop international government procurement by analyzing functions and roles of information providing circumstance and existing total international government procurement information system. In addition, it would require to draw up a way of improving current international government procurement information system based on the problems of existing system. In this study, we analyze the current status of Korean international government procurement information system and give an idea of mutual cooperating with DGMARKET, a good example of international government procurement information system. As a practical method, cooperating with DGMARKET by building each countries' gateway will be very helpful in cost saving and providing information. It will also complement the limitation of Korean system's one way service. But supplying only international government procurement information is insufficient in realization of e-trade in international goverment procurement market. To settle these problems, treating international government procurement as a same field of trade and giving political support and incentive to company which hopes to participate international goverment procurement are absolutely needed.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.14 no.5
• /
• pp.259-267
• /
• 2019

This paper proposes a structure of a variable impedance control system based on sensor-less external force estimator of industrial manipulators for cyber physical production systems (CPPS). To implement CPPS, a feedback system is constructed by using the robot operating system (ROS) and an external force estimator which is designed to measure the external force applied to the manipulator without a force sensor. Based on the robot dynamics, the robot-human cooperating system for the cyber physics production system is implemented through a controller that changes the impedance characteristics of the manipulator according to the situation using the external force estimator. Simulation and experimental results verify the effectiveness of the proposed control system.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.2
• /
• pp.190-196
• /
• 2000

A hybrid position/force control scheme to regulate the force and position by dual arms is proposed where two arms are treated as one rm in a kinematic viewpoint. The force error calculated from the information of two force/torque sensors attached to the end of each arm is transferred to minimum configuration space coordinates and then is distributed to total system joint coordinates, The position adjustment at the total con-figuration coordinates is computed based on the effective compliance matrix with respect to total joint coordinates which is obtained by coordinate transformation between the task coordinates and the total joint coordinates. The proposed scheme is applied to sawing task. When the trajectory of the saw is planned to follow a line in a horizontal plane 2 position parameters are to be controlled(i.e., two translational positions) Also a certain level of contact force has to be controlled along the vertical direction(i.e. minus z-direction) not to loose the contact with the object to be sawn. We experimentally show that the performance of the velocity and force response are satisfactory. The proposed hybrid control scheme can be applied to arbitrary two cooperating arm system regardless of their kinematic structure and the number of actuated joints.

• Korean Journal of Organic Agriculture
• /
• v.17 no.3
• /
• pp.327-345
• /
• 2009

Environment-friendly agricultural products market has been experiencing various change through the quantitative growth in Korea. The food safety is considered seriously and the interest of the consumer is increasing about environment-friendly agricultural products and organic agricultural products. Environment-friendly agricultural products is encouraged in the link of the counter-measure which follows in the market opening. This research aims at making shorter the distance between the productive person and the consumer and to improve the income for organic farm and the price competitiveness for Environment-friendly agricultural products through the present condition analysis for organic produce's production, distribution and consumption market. To solve the problems above, the development of strategies for the establishment of distribution system for the organic produce's stable supply and the improvement of price competitiveness, the establishment of the cooperating system on the produce's demand and supply, the improvement of consumer's reliability by reinforcement with connectivity and transparency of the process, and the vitalization of regional economy and the exchange of rural and city area are needed.

• Korean Security Journal
• /
• no.6
• /
• pp.67-101
• /
• 2003

This study presents a plan of construction for cooperating crime prevention system between public police and private security to provide positive safety, and crime prevention activity for clients. A method of this study, this paper used statistics analysis and literature study. This study, an introduction is at the chapter I , a role of public police and private security at the Chapter II, the realities of private security industry of korea at the Chapter III, the police service relating with private security and operating realities at the ChapterIV, the problems and a plan of construction for co-operating crime prevention system at the ChapterV, and conclusion at the ChapterVI. In conclusion, It is needed a public information strategy, partnership between the police and guard, establishment of special office for private security, and the improvement of the quality in security corporation.

• Journal of Mechanical Science and Technology
• /
• v.14 no.2
• /
• pp.188-196
• /
• 2000

In this paper, our aim is to develop a model for two cooperating flexible manipulators handling a rigid object by using lumped parameters. This model is in turn analyzed on MATLAB. In order to validate the model, a precise simulation model is developed using $ADAMS^{TM}$ (Automatic Dynamic Analysis of Mechanical System). Moreover, to clarify the discussion, the motions of a dual-arm experimental flexible manipulator are considered. Using the developed model, we control a robotic system with a symmetric hybrid position/force control scheme. Finally, experiments and simulations are performed, and a comparison of simulation results with experimental results is given to a rerify the validity of our model.

• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.10
• /
• pp.930-939
• /
• 2004

In this paper, both dynamic constraints and kinematic constraints are considered for the analysis of manipulability of robotic systems comprised of multiple cooperating arms. Given bounds on the torques of each Joint actuator for every robot, the purpose of this study is to drive the bounds of task-space acceleration of object carried by the system. Bounds on each joint torque, described as a polytope, is transformed to the task-space acceleration through matrices related with robot dynamics, robot kinematics, object dynamics, grasp conditions, and contact conditions. A series of mathematical manipulations including the procedure calculating minimum infinite-norm solution of linear equation is applied to get the reachable acceleration bounds from given actuator dynamic constrains. Several examples including two robot systems as well as three robot system are shown with the assumptions of complete-constraint contact model(or' very soft contact') and insufficient or proper degree of freedom robot.

• Proceedings of the IEEK Conference
• /
• 2003.11b
• /
• pp.137-140
• /
• 2003

This paper proposes a pursuing system utilizing the learning method where multiple cooperating agents emulate social behaviors of animals and insects and realize their group behaviors. Each agent contains sensors to perceive other agents in several directions and decides its behavior based on the information obtained by the sensors. In this paper, a neural network is used fir behavior decision controller. The input of the neural network is decided by the existence of other agents and the distance to the other agents. The output determines the directions in which the agent moves. The connection weight values of this neural network are encoded as genes, and the fitness individuals are determined using a genetic algorithm. Here, the fitness values imply how much group behaviors fit adequately to the goal and can express group behaviors. The validity of the system is verified through simulation.

• Journal of the Semiconductor & Display Technology
• /
• v.4 no.2 s.11
• /
• pp.25-32
• /
• 2005

This paper proposes a method for the intelligent load distribution of two cooperating robots(TCRs) using fuzzy logic. The proposed scheme requires the knowledge of the robots' dynamics, which in turn depend upon the characteristics of large flat panel displays(LFPDs) carried by the TCRs. However, the dynamic properties of the LFPD are not known exactly, so that the dynamics of the robots, and hence the required Joint torque, must be calculated for nominal set of the LFPD characteristics. The force of the TCRs is an important factor in carrying the LFPD. It is divided into external force and internal force. In general, the effects of the internal force of the TCRs are not considered in performing the load distribution in terms of optimal time, but they are essential in optimal trajectory planning; if they are not taken into consideration, the optimal scheme is no longer fitting. To alleviate this deficiency, we present an algorithm for finding the internal-force (actors for the TCRs in terms of optimal time. The effectiveness of the proposed system is demonstrated by computer simulations using two three-joint planner robot manipulators.