• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.419-423
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• 1996

These days, industrial robots are required to have high speed and high precision in doing various tasks. Recently, the adaptive control algorithms for those nonlinear robots have been developed. With spatial vector space, these adaptive algorithms including recursive implementation are simply described. Without sensing joint acceleration and computing the inversion of inertia matrix, these algorithms which include P.D. terms and feedforward terms have global tracking convergence. In this paper, the feasibility of the proposed control method is illustrated by applying to 2 DOF SCARA robot in DSP(Digital Signal Processing).

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.792-796
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• 1992

Readings from robotic sensors are somewhat uncertain. This uncertainty problem makes it difficult to employ the sensor feedback controlled robots widely in real industrial sites, In this paper, redundant sensor fusion techniques are discussed to effectively overcome the sensor uncertainty, A weighted averaging technique is proposed under static and dynamic sensing environments. Proposed technique is tested by the experiments of stereoscopic 3d position measurements.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.19 no.6
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• pp.47-55
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• 2019

The robot is the creation of new markets and various cooperation according to the manufacturing paradigm shift. Cooperative management easy for existing industrial robots, robots work on productivity, manpower to replace the robot in every industry cooperation for the purpose of and demand increases.to exist But the industrial robot at the scene of the cooperation working due to accidents are frequent, threatening the safety of the operator. Of industrial site is configured with a robot in an environment ensuring the safety of the operator to and confidence to communicate that can do the possibility of action.Robot guard system of the need for development cooperation. The robot's cooperation through the sensors and computer vision task within a radius of the double to prevent accidents and accidents should reduce the risk. International protocol for a variety of industrial production equipment and communications opc ua system based on ultrasonic sensors and cnn to (Convolution Neural Network) for video analytics. We suggest the cooperation with the robot guard system. Robots in a proposed system is unsafe situation of workers evaluating the possibility of control.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1996.06c
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• pp.1063-1072
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• 1996

Fruit harvesting robots should have more diversity and flexibility in the working conditions and environments than industrial robots. This paper presents an efficient optimization algorithm for redundant manipulators to avoid obstacles using dynamic performance criteria, while the optimization schemes of the previous studies used the performance criteria using kinematic approach. Feasibility and effectiveness of this algorithm were tested through simulations on a 3-degrees-of-freedom manipulator made for this study. Only the position of the end-effector was controlled , which requires only three degrees of freedom. Remaining joints, except for the wrist roll joint, which does not contribute to the end-effector linear velocity, provide two degrees of redundancy. The algorithm was effective to avoid obstacles in the workspace even through the collision occurred in extended workspace, and it was found be to a useful design tool which gives more flexibility to design conditions nd to find the mechanical constraints for fruit harvesting robots.

• International Journal of Internet, Broadcasting and Communication
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• v.14 no.1
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• pp.209-218
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• 2022

Today, with the development of the Internet and mobile technology, consumers' purchasing patterns have shifted from offline to online. In addition, due to the recent COVID-19, online purchases have significantly increased, and accordingly, the courier industry for logistics delivery has also grown significantly. Various logistics robots are being operated in many industrial and can reduce the labor intensity and physical and mental fatigue of workers. However, if the logistics robot does not properly recognize the people or environment around it, it can lead to a serious accident. We conducted that how logistics robots can perform safe work in a working environment such as a logistics warehouse through the application of ISO/DIS 21448 (SOTIF) to autonomous logistics transport robots. This result is expected to contribute to the operation of unmanned logistics warehouses using AGV.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2022.11a
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• pp.155-156
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• 2022

In the process of developing an industrial robot, various simulations should be conducted to evaluate the driving, movement, and performance of the robot. Space and time constraints exist to manufacture existing robots and implement various simulations, and efficiency is reduced due to high costs. To solve this problem, many simulations can be conducted by implementing the same movement and working environment as the real environment in virtual reality using digital twin technology. This study proposes a process for establishing a digital twin model of automated layout robots. Using the digital twin model, it is expected that it will not only evaluate the hardware performance of the robot in the future, but also verify the robot's algorithms such as motion planning and work process, identify and solve potential problems in advance, and prevent problems caused by software.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.651-656
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• 2003

This paper describes research on mental commit robot that seeks a different direction from industrial robot, and that is not so rigidly dependent on objective measures such as accuracy and speed. The main goal of this research is to explore a new area in robotics, with an emphasis on human-robot interaction. Mental commit robots provide psychological, physiological, and social effects to human beings through physical interaction. In the previous research, we categorized robots into four categories in terms of appearance. Then, we introduced a cat robot and a seal robot, and evaluated them by interviewing many people. The results showed that physical interaction improved subjective evaluation. Moreover, a priori knowledge of a subject has much influence into subjective interpretation and evaluation of mental commit robot. In this paper, 95 subjects evaluated the seal robot, Paro by questionnaires in an exhibition at the Japan cultural institute in Rome, Italy for 4 days from June 25th to 28th, 2003. This paper reports the results of statistical analysis of evaluation data.

• 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.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.4 no.1
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• pp.101-110
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• 2004

The robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, humans and robots need to be in close proximity to each other as much as possible. Moreover, it is necessary for their interactions to occur naturally. It is desirable for a robot to carry out human following, as one of the human-affinitive movements. The human-following robot requires several techniques: the recognition of the moving objects, the feature extraction and visual tracking, and the trajectory generation for following a human stably. In this research, a predictable intelligent space is used in order to achieve these goals. An intelligent space is a 3-D environment in which many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents providing humans with services. A mobile robot is controlled to follow a walking human using distributed intelligent sensors as stably and precisely as possible. The moving objects is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time trajectory to follow the walking human, the linear and angular velocities are estimated and utilized. The computer simulation and experimental results of estimating and following of the walking human with the mobile robot are presented.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.382-387
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• 1992

In order to obtain desired arc welding performance, we already developed an arc welding robot system that enabled coordinated motions of dual arm robots. In this system one robot arm holds a welding target as a positioning device, and the other robot moves the welding torch. Concerning to such a dual arm robot system, the positioning accuracy of robots is one important problem, since nowadays conventional industrial robots unfortunately don't have enough absolute accuracy in position. In order to cope with this problem, our robot system employed teaching playback method, where absolute error are compensated by the operator's visual feedback. Due to this system, an ideal arc welding considering the posture of the welding target and the directions of the gravity has become possible. Another problem still remains, while we developed an original teaching method of the dual arm robots with coordinated motions. The problem is that manual teaching tasks are still tedious since they need fine movements with intensive attentions. Therefore, we developed a 3-dimensional vision guided robot control method for our welding robot system with coordinated motions. In this paper we show our 3-dimensional vision sensor to guide our arc welding robot system with coordinated motions. A sensing device is compactly designed and is mounted on the tip of the arc welding robot. The sensor detects the 3-dimensional shape of groove on the target work which needs to be weld. And the welding robot is controlled to trace the grooves with accuracy. The principle of the 3-dimensional measurement is depend on the slit-ray projection method. In order to realize a slit-ray projection method, two laser slit-ray projectors and one CCD TV camera are compactly mounted. Tactful image processing enabled 3-dimensional data processing without suffering from disturbance lights. The 3-dimensional information of the target groove is combined with the rough teaching data they are given by the operator in advance. Therefore, the teaching tasks are simplified