• The Transactions of the Korean Institute of Electrical Engineers
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• v.36 no.4
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• pp.293-300
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• 1987

This paper presents a desing of a PWM programmable controller for industrial robot to be utilized in process which reqires various movements and repeating operations. To be specific, a low-level robot language is constructed which makes easy for the user to program complex robot motion, and an interpreter is developed to execute the program. Also, related hardware and software, and monitor program for convenience of user are implemented. When the proposed controller is applied to the catresian coordinate 4-axis manipulator, it reveals that the error probabilities of X,Y and Z axis as 0.033%, 0.023%,0.028% respectively.

• Proceedings of the KIPE Conference
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• 2007.07a
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• pp.491-493
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• 2007

This paper is suggesting the method to embody Multi-Axes robot controller by using CAN which has been the most popular industrial networks. The robot controller guarantees the efficiency and reliability by using CAN as a communication tool between upper robot control parts and lower control parts.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.10
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• pp.4551-4556
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• 2012

This paper aims at examining the Korea export competitiveness of robot industry and presenting the strategy to improve capability of robot industry under Korea-US FTA. For the purpose, the current status and environment of Korea-US robot industry and the core points of Korea-US FTA are analyzed. In addition, using SWOT analysis of Korean robot field, we analyzed the characteristics of Korean robot industry and proposed the strategy for export expansion and strength of export competitiveness. Through above analyzation and strategies, we found out that Korea robot industry have some advantage to go into the US market and get the opportunity to improve the export capability though Korea-US FTA. In conclusion, to improve current status and to get the competitiveness, government and companies related with robot industry should recognize and utilize Korea-US FTA effect significantly.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.3
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• pp.190-196
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• 2016

This paper proposes a humanoid robot performance system for performing in public places, such as an event, exhibition, or street performance. The system of modular structures can be moved easily, and can be played by a module or a combination of modules. The system developed with open source-based software and hardware is easy to adapt and improve. The robot performance control program for controlling robots, displays, audios, videos, and performance instruments was developed using the open source language, Processing. The performance instruments were developed using the open source hardware, Arduino. The contents of the robot performance were composed of scene-specific image, background audio, computer graphics, and videos. For their control and synchronization, the performance control program communicates with the humanoid robots and the performance instruments. In addition, performance accessories required to represent the performance concepts are produced by 3D modeling and printing. In a public place, the robot performance is performed with the theme of celebrating a Halloween day.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.2
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• pp.318-323
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• 2013

For fast and accurate motion of 6-axis articulated robot, more noble motion control strategy is needed. In general, the movement strategy of industrial robots can be divided into two kinds, PTP (Point to Point) and CP (Continuous Path). Recently, industrial robots which should be co-worked with machine tools are increasingly needed for performing various jobs, as well as simple handling or welding. Therefore, in order to cope with high-speed handling of the cooperation of industrial robots with machine tools or other devices, CP should be implemented so as to reduce vibration and noise, as well as decreasing operation time. This paper will realize CP motion (especially joint-linear) blending in 3-dimensional space for a 6-axis articulated (lab-manufactured) robot (called as "RS2") by using LabVIEW$^{(R)}$ (6) programming, based on a parametric interpolation. Another small contribution of this paper is the proposal of motion blending simulation technique based on Recurdyn$^{(R)}$ V7 and Solidworks$^{(R)}$, in order to figure out whether the joint-linear blending motion can generate the stable motion of robot in the sense of velocity magnitude at the end-effector of robot or not. In order to evaluate the performance of joint-linear motion blending, simple PTP (i.e., linear-linear) is also physically implemented on RS2. The implementation results of joint-linear motion blending and PTP are compared in terms of vibration magnitude and travel time by using the vibration testing equipment of Medallion of Zonic$^{(R)}$. It can be confirmed verified that the vibration peak of joint-linear motion blending has been reduced to 1/10, compared to that of PTP.

• Science of Emotion and Sensibility
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• v.8 no.3
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• pp.303-312
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• 2005

The goal of this study is to deepen the understanding of robot business and application, and examine the relationships and development trends of robot evaluation scales. Through interactive mapping, 113 types of robot data samples were realized to be placed on seven evaluation scales and reference on specific information of each items were allowed. Also, by examining the robot development trends among different countries through interactive mapping, the trends could be largely divided into American, European, Japanese, and Korean. Throughout various parts of the evaluation scale, American and European views were found to consider robots mainly as tools. On the other hand, Japanese and Korean views considered robots as a 'partner' or 'neighbour' and were working to satisfy these aspects.

• Journal of Industrial Convergence
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• v.20 no.11
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• pp.127-134
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• 2022

With the recent advent of the Fourth Industrial Revolution, the importance of the platform business is increasing. Most global companies with high market value are known as platform companies. This change is changing the business model of companies in various industries. However, existing studies have mainly focused on information-intensive industries and large companies. Therefore, this study attempted to analyze the case of Everybot, which is successfully growing in the service robot industry. Everybot is known as a company that produces robot cleaners. However, according to the result, the company has focused on developing autonomous driving technologies and pursuing platform-based business strategies rather than product-based ones. The results of this study have theoretical and practical implications by showing how domestic small and medium-sized robot companies apply platform-based business strategies to achieve long-term growth with gaining leadership in the personal service robotics market.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.2
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• pp.631-638
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• 2017

In the age of the Fourth Industrial Revolution, lifestyle and industrial structures are faced with evolution from IT-based automation to the intelligent stage, demanding talents with software capabilities in various fields. Reflecting these demands, the government has enhanced basic software education for non-majors in elementary and secondary schools as well as universities. In this study, the software convergence education of Non-Majors is proposed to improve the general problem solving ability based on computational thinking and the software convergence ability in the field of their own by developing robot activity. The subjects of this study were 91 students, who were composed of various majors. The class was designed with computing thinking, convergence elements, and creative robot activity. The study was conducted for 13 weeks. To examine the effects of software convergence education through the creative robot activity, this study observed changes in the students' learning outcomes, satisfaction with creative robot activities, and perceptions of other disciplines after class based on pre-diagnosis surveys. The survey asked 12 questions including an understanding of the learning contents, overall satisfaction with multidisciplinary collaborative learning, understanding of other disciplines, and self-evaluation of problem solving ability through creative robot activities, which were compared with that before the class. They answered that their ability was improved.

• International Journal of Control, Automation, and Systems
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• v.5 no.4
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• pp.419-428
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• 2007

This paper describes the development of a six-axis force/moment sensor with rectangular taper beams for an intelligent robot's wrist and ankle. In order to accurately push and pull an object with an intelligent robot's hand, and in order to safely walk with an intelligent robot's foot, the robot's wrist and ankle should measure three forces Fx, Fy, and Fz, and three moments Mx, My, and Mz simultaneously from the mounted six-axis force/moment sensor to the intelligent robot's wrist and ankle. Unfortunately, the developed six-axis force/moment sensor utilized in other industrial fields is not proper for an intelligent robot's wrist and ankle in the size and the rated output of the six-axis force/moment sensor. In this paper, the structure of a six-axis force/moment sensor with rectangular taper beams was newly modeled for an intelligent robot's wrist and ankle, and the sensing elements were designed by using the derived equations, following which the six-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements. Moreover, the characteristic test of the developed sensor was carried out by using the six-component force/moment sensor testing machine. The rated outputs from the derived equations agree well with those from the experiments. The interference error of the sensor is less than 2.87%.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.12
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• pp.3833-3838
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• 2009

This paper introduces a measurement system for mechanical properties of sport shoes using an industrial robot. The robot system used in this paper is a commercial Puma type robot system(FARA AT2 made by SAMSUNG Electronics) with 6 joints and the end-effector is modified to produce a human walking motion. After analyzing human walking with a high speed video camera, each joint angle of the robot system is extracted to be used in the robot system. By using this system, ground impact forces were measured during stepping motion with 3 different shoe specimens made of 3 different hardness outsoles, respectively. As other mechanical properties, both bending moments to bend the toe part of the same specimen shoes and pronation quantities during walking motion were measured as well. In the impact test with the same depth of deformation under the ground level, the effect of the outsole hardness was clearly appeared such that the harder outsole produces the higher ground reaction force. The bending test and the pronation test also show proportional increments in the bending stiffness and the moment Mx according to the outsole hardness. Throughout such experiments, the robot system has produced consistent results so that the system could be used in obtaining valuable informations for a shoe designing process.