• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.400-403
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• 1995

A robot system is proposed to realize coordinated motion of two arm robot. Due to a 3-D vision sensor, precise coordinated motions could be realized. Using a sophisticated IC chip, real time image processing could be executed using a simple circuit.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.9
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• pp.893-899
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• 2013

Recently, the requirement of automation in the cell production system is increasing due to a decrease of skilled workers who are the key point of a cell production system. This paper proposes a dual-arm robot designed and implemented with consideration of being applied to a cell production line of cellular phone. A specification was derived from the analysis of production process and the consideration of configuration for human-robot cooperation. Design and implementation results of the proposed dual-arm robot were suggested and the feasibility was verified through the demonstration of the proposed robot in some of packaging job of cellular phone.

• The Journal of Korea Robotics Society
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• v.12 no.4
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• pp.441-447
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• 2017

Robot arms are being increasingly used in various fields with special attention given to unmanned systems. In this research, we developed a high payload dual-arm robot, in which the forearm module is replaceable to meet the assigned task, such as object handling or lifting humans in a rescue operation. With each forearm module specialized for an assigned task (e.g. safety for rescue and redundant joints for object handling task), the robot can conduct various tasks more effectively than could be done previously. In this paper, the design of the high payload dual-arm robot with replaceable forearm function is described in detail. Two forearms are developed here. Each of forearm has quite a different goal. One of the forearms is specialized for human rescue in human familiar flat aspect and compliance parts. Other is for general heavy objects, more than 30 kg, handling with high degree of freedom more than 7.

• The Journal of Korea Robotics Society
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• v.7 no.1
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• pp.35-44
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• 2012

This paper presents a method to optimize motion planning for industrial manipulators with redundancy. For optimal motion planning, first of all, particular inverse kinematic solution is needed to improve efficiency for manipulators with redundancy working in various environments. In this paper, we propose three kinds of methods for solving inverse kinematics problems; numerical and combined approach. Also, we introduce methods for optimal motion planning using potential function considering the order of priority. For efficient movement in industrial settings, this paper presents methods to plan motions by considering colliding obstacles, joint limits, and interference between whole arms. To confirm improved performance of robot applying the proposed algorithms, we use two kinds of robots with redundancy. One is a single arm robot with 7DOF and another is a dual arm robot with 15DOF which consists of left arm, right arm with each 7DOF, and a torso part with 1DOF. The proposed algorithms are verified through several numerical examples as well as by real implementation in robot controllers.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.5
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• pp.461-468
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• 1997

A real-time collision-free trajectory control method for dual arm robot system is proposed. The proposed method is composed of two stages; one is to calculate the minimum distance between two robot arms and the other is to control the trajectories of the robots to ensure collision-free motions. The calculation of minimum distance between two robots is, also, composed of two steps. To reduce the calculation time, we, first, apply a simple modeling technique to the robots arms and determine the interested part of the robot arms. Next, we apply more precise modeling techniques for the part to calculate the minimum distance. Simulation results show that the whole algorithm runs within 0.05 second using Pentium 100MHz PC.

• Journal of the Optical Society of Korea
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• v.17 no.6
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• pp.491-493
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• 2013

This paper proposes a frequency-doubling optoelectronic oscillator employing a novel three-arm dual-output Mach-Zehnder modulator (MZM). One output of the MZM generates the fundamental-frequency signal which is recycled by the microwave optical fiber link for oscillation, and the other output can generate the frequency-doubled signal. Experiment was conducted using a commercial two-arm MZM, a phase modulator, and an optical fiber link of 89 meters in length. A 19-GHz frequency-doubled signal was successively obtained with fundamental signal suppression more than 36 dB.

• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.100-106
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• 2020

In the agricultural field, interests in research using robots for fruit harvesting are continuously increasing. Dual arm manipulators are promising because of its abilities like task-distribution and role-sharing. To operate it efficiently, the task sequence must be planned adequately. In our previous study, a collision-free path planning method based on a genetic algorithm is proposed for dual arm manipulators doing tasks cooperatively. However, in order to simplify the complicated collision-check problem, the movement between tasks of two robots should be synchronized, and thus there is a problem that the robots must wait and resume their movement. In this paper, we propose a heuristic algorithm that can reduce the total time of the optimal solution obtained by using the previously proposed genetic algorithm. It iteratively desynchronizes the task sequence of two robots and reduces the waiting time. For evaluation, the proposed algorithm is applied to the same work as the previous study. As a result, we can obtain a faster solution having 22.57 s than that of the previous study having 24.081 s. It will be further studied to apply the proposed algorithm to the fruit harvesting.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.610-615
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• 2005

Visual servoing is the fusion of results from many elemental areas including high-speed image processing, kinematics, dynamics, control theory, and real-time computing. It has much in common with research into active vision and structure from motion, but is quite different from the often described use of vision in hierarchical task-level robot control systems. We present a new approach to visual feedback control using image-based visual servoing with the stereo vision in this paper. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using a binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only at around a desired location but also at the other locations. The suggested technique can guide a robot manipulator to the desired location without giving such priori knowledge as the relative distance to the desired location or the model of an object even if the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by the simulation and experimental results and compared with the case of conventional method for dual-arm robot made in Samsung Electronics Co., Ltd.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2003.10a
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• pp.201-206
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• 2003

In this paper, it is presented a new technique to the design and real-time implementation of fuzzy control system based-on digital signal processors in order to improve the precision and robustness for system of industrial robot. Fuzzy control has emerged as one of the most active and fruitful areas for research in the applications of fuzzy set theory, especially in the real of industrial processes. In this thesis, a self-organizing fuzzy controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis of a FLC, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult, SOFC is proposed fir a hierarchical control structure consisting of basic level and high level that modify control rules. The proposed SOFC scheme is simple in structure, fast in computation and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for robot with eight joints.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.12
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• pp.1220-1230
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• 2006

In this paper, we propose a flew technique to the design and real-time control of an adaptive controller for robotic manipulator based on digital signal processors. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved Lyapunov second method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot manipulator with eight joints. joint space and cartesian space.