• 대한임베디드공학회논문지
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• 제7권3호
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• pp.143-150
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• 2012

In this paper, we introduce an intelligent quadruped walking robot that can perform stable walking and a couple of intelligent behaviors. The developed robot has two sets of ultrasonic sensors and six sets of infrared sensors and can perform obstacle avoidance by detecting obstacles and estimating the distances and directions of those obstacles. The robot also has a stereo camera and can paly soccer by detecting a ball and estimating the 3 dimensional coordinates of the ball. In performing those intelligent behaviors, the robot needs to have the capability of generating its walking patterns, solving the inverse kinematics problem, and interfacing several sensors in realtime. Therefore we designed a hierarchical controller that consists of a main controller and an auxiliary controller. The main controller is a 32-bit DSP that can perform fast floating-point opertaion and the auxiliary one is a 8-bit micro-controller. We showed that the developed quadruped walking robot successfully perform those intelligent behaviors through experiments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.736-741
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• 1992

The Stewart platform is one example of a motion simulator which generates 6 DOF motion in space by 6 actuators connected in parallel. The present SISO controllers are designed to track displacement command of each actuator computed from reference 6 DOF motion of platform by Stewart platform inverse kinematics. But this type of control can't cope with external load variation, geometric configuration of motion simulator, and different dynamic behavior of 6 DOF motion. In this paper, a multivariable controller using H- optimal control theory is designed for linerized simulator model with each actuator driving force as control input and platform 6 DOF motion as measured output. Nonlinear simulation result of the H$_{\infty}$ MIMO controller is not satisfied in steady-state characteristics. But the proposed H$_{\infty}$ + PI control scheme shows acceptable performance.e.e.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.564-568
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• 1992

A neural optimization network is designed to solve the collsion-free inverse kinematics problem for redundant robot manipulators under the constraints of joint limits, maximum velocities and maximum accelerations. And the fuzzy rules are proposed to determine the weightings of neural optimization networks to avoid the collision between robot manipulator and obstacles. The inputs of fuzzy rules are the resultant distance, change of the distance and sum of the changes. And the output of fuzzy rules is defined as the capability of collision avoidance of joint differential motion. The weightings of neural optimization networks are adjusted according to the capability of collision avoidance of each joint. To show the validities of the proposed method computer simulation results are illustrated for the redundant robot with three degrees of freedom,

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.392-395
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• 1995

This paper presents a time efficient method for determining a sequence of locations of a mobile manipulator that facilitates tracking of continuous path in cluttered environment. Given the task trajectory in the form of octree data structure, the algorithm performs characterization of task space and subsequent multistage optimization process to determine task feasible locations of the robot. Firstly, the collision free portion of the trajectory is determined and classified according to uniqueness domains of the inverse kinematics solutions. Then by implementing the extent of task feasible subspace into an optimization criteria, a multistage optimization problem is formulated to determines the task feasible locations of the mobile manipulator. The effectiveness of the proposed method is shown through a simulation study performed for a 3-d.o.f. manipulator with generic kinematic structure.

• 제어로봇시스템학회논문지
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• 제16권12호
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• pp.1233-1240
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• 2010

In the flat panel display and semiconductor industries, the visual alignment system is considered as a core technology which determines the productivity of a manufacturing line. It consists of the vision system to extract the centroids of alignment marks and the stage control system to compensate the alignment error. In this paper, we develop a Kalman filter algorithm to estimate the alignment mark postures and propose a coarse-fine alignment control method which utilizes both original fine images and reduced coarse ones in the visual feedback. The error compensation trajectory for the distributed joint servos of the alignment stage is generated in terms of the inverse kinematic solution for the misalignment in task space. In constructing the estimation algorithm, the equation of motion for the alignment marks is given by using the forward kinematics of alignment stage. Secondly, the measurements for the alignment mark centroids are obtained from the reduced images by applying the geometric template matching. As a result, the proposed Kalman filter based coarse-fine alignment control method enables a considerable reduction of alignment time.

• 한국지능시스템학회논문지
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• 제23권1호
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• pp.24-28
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• 2013

이 논문에서는 아동 크기 휴머노이드 로봇의 설계 및 개발과정에 대하여 기술한다. 경량형 휴머노이드 로봇의 설계 개념을 제시하고, 3차원 설계 툴을 이용하여 1m 이상 크기 휴머노이드 로봇의 메커니즘을 설계하였다. 로봇의 구동을 위한 하드웨어는 제한된 로봇의 무게 내에서 최적의 성능을 낼 수 있도록 설계하였다. 3차원 설계 툴을 사용하여 설계한 로봇의 프레임 및 링크들은 가볍고 강도가 좋은 재료를 선정하고 정밀 가공을 통해 제작하였다. 제작된 아동 크기의 휴머노이드 로봇은 역기구학, 균형제어를 적용하여 기본 동작을 구현하고 그 성능을 실험을 통하여 확인하였다.

• 제어로봇시스템학회논문지
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• 제19권6호
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• pp.555-562
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• 2013

This paper presents the optimal array of optical mice for the accurate velocity estimation of a mobile robot. It is assumed that there can be some restriction on the installation of two or more optical mice at the bottom of a mobile robot. First, the velocity kinematics of a mobile robot with an array of optical mice is derived, which maps the velocity of a mobile robot to the velocities of optical mice. Second, taking into account the consistency in physical units, the uncertainty ellipsoid is obtained to represent the error characteristics of the mobile robot velocity estimation owing to noisy optical mouse measurements. Third, a simple but effective performance index is defined as the inverse of the volume of the uncertainty ellipsoid, which can be used for the optimization of the optimal optical mouse placement. Fourth, simulation results for the optimal placement of three optical mice within a given elliptical region are given.

• 제어로봇시스템학회논문지
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• 제4권2호
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• pp.273-279
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• 1998

철강석 또는 석탄의 적치장에서는 이들 원석을 퍼내어 용광로로 보내주는 불출기(reclaimer)가 사용되고 있다. 불출기를 자동화하려면 야적파일에 불출용 회전 버킷(bucket)을 자동착지시키는 방법이 요구된다. 본 논문에서는 야적 파일 표면위의 버킷 착지점을 추출하는 방법을 제시한다. 이 방법은 파일의 3차원 형상 검출, 파일의 등고선 추출, 불출기의 역기구학해의 도출 및 착지점 추출 알고리즘으로 이루어진다. 파일의 3차원 형상과 거리를 측정하기 위한 3차원 형상 검출기가 2차원 레이저 검출기에 수평주사(scanning)용 모터를 부착하여 개발하였고, 다 단계의 영상처리를 통해 버킷이 작업할 수 있도록 파일의 작업 등고선을 추출하였다. 불출기가 회전 버킷에 의해 기구학적으로 여유자유도로 이루어 졌음을 보였으며, 역기구학 해를 구하는 방법을 아울러 제시하였다. 그리고 버킷의 착지점을 과부하 방지와 단위 시간당 생산성을 최대화하는 성능기준에 근거하여 구하였다. 또한 개발된 시스템을 제철소 원석 야적장의 불출기에 설치 시험하여 타당성을 입증하였다.

• 제어로봇시스템학회논문지
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• 제22권4호
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• pp.307-314
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• 2016

Recently, demands on the tapping machine are increased due to the case of a cell phone is changed to metal such as aluminum. The automatic tool changer (ATC) is one of the most important devices for the tapping machine related to the speed and energy consumption of the machine. To reduce the consumed energy and vibration, the dynamic modeling is essential for the ATC. In this paper, inverse dynamic modeling of a novel ATC mechanism is introduced. The proposed ATC mechanism is composed of a double four-bar mechanism with a circular tablet to generate continuous rotation of the tablet. The dynamic modeling is performed based on the Lagrange equation with a modeling for the contact between the four-bar and the tablet. Simulation results for various working conditions are proposed and analyzed for the prototype design. The dynamic modeling can be applied to determine the proper actuator and to reduce the vibration and consumed energy for the ATC machine.

• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.460-470
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• 2011

This paper presents a dynamic workspace control method of underwater manipulator considering a floating ROV (Remotely Operated vehicle) motion caused by sea wave. This method is necessary for the underwater work required linear motion control of a manipulator's end-effector mounted on a floating ROV in undersea. In the proposed method, the motion of ROV is modeled as nonlinear first-order differential equation excluded dynamic elements. For online manipulator control achievement, we develop the position tracking method based on sensor data and EKF (Extended Kalman Filter) and the input velocity compensation method. The dynamic workspace control method is established by applying these methods to differential inverse kinematics solution. For verification of the proposed method, experimental data based test of ROV position tracking and simulation of the proposed control method are performed, which is based on the specification of the KORDI deep-sea ROV Hemire.