• International Journal of Control, Automation, and Systems
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• v.3 no.1
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• pp.32-42
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• 2005

In this paper, to improve the efficiency of welding and user convenience in the shipbuilding industry, a PC-based off-line programming (OLP) technique and the development of a robot transfer unit are presented. The developed OLP system is capable of not only robot motion simulations but also automatic generations of a series of robot programs. The strength of the developed OLP system lies in its flexibility in handling the changes of the welding robot's target objects. Moreover, for a precise transfer of the robot to a desired location, an auxiliary mobile platform named a robot-origin-transfer-unit (ROTU) was developed. To enhance the cornering capability of the platform in a narrow area, the developed ROTU is equipped with 2 steering wheels and 1 driving wheel. Both the OLP and the ROTU were field­tested and their performances were proven successful.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.487-495
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• 2012

In this paper, a Smart Home Service Robot, McBot II, which performs mess-cleanup function etc. in house, is designed much more optimally than other service robots. It is newly developed in much more practical system than McBot I which we had developed two years ago. One characteristic attribute of mobile platforms equipped with a set of dependent wheels is their omni- directionality and the ability to realize complex translational and rotational trajectories for agile navigation in door. An accurate coordination of steering angle and spinning rate of each wheel is necessary for a consistent motion. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed in this paper. This built-in type manipulator consists of both arms with 4 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic arm is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed McBot II is confirmed through live tests of the mess-cleanup task.

• Composites Research
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• v.31 no.5
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• pp.227-237
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• 2018

In this paper, the design application for the lightweight and insulation of the manipulator of the mobile welding robot for the closed/narrow space is presented. A variety of robotic platforms have been developed for weld-worker using a welding robot outside a workpiece for welding work in a complex and narrow space such as a ship or an offshore plant. Normally, The development process of robots consists of machine development, electronic device development, control algorithm development and integration verification considering application environment and requirements. In order to develop the robustness of the welding robot, the lightweight design of the robot manipulator considering the environmental conditions was performed in the basic design of the robot platform. Also, The results of the robot selection and validation, analysis and testing for the insulation performance and cooling performance and the results of the research are shown.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.1
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• pp.331-339
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• 2016

This paper developed a home wellness robot platform to perform the roles in basic health care and life care in an aging society. A robotic platform and a sensory platform were implemented for an indoor wellness service. In the robotic platform, the precise mobility and the dexterous manipulation are not only developed in a symbiotic service-robot, but they also ensure the robot architecture of human friendliness. The mobile robot was made in the agile system, which consists of Omni-wheels. The manipulator was made in the anthropomorphic system to carry out dexterous handwork. In the sensing platform, RF tags and stereo camera were used for self and target localization. They were processed independently and cooperatively for accurate position and posture. The wellness robot platform was integrated in a real-time system. Finally, its good performance was confirmed through live indoor tests for health and life care.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1615-1620
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• 2003

Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This paper proposes a new device that can identify all kinematic parameters with partial pose measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The device, however, is general and can be used for other parallel manipulators. The proposed device consists of a link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When attached between the base and the mobile platform, the device restricts the end-effector's motion to five degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the identification is robust for the errors in the initial guess and the measurement noise. Intrinsic inaccuracies of the device can significantly deteriorate the calibration results. A measurement procedure is proposed and formulations of cost functions are discussed to prevent propagation of the inaccuracies to the calibration results.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1494-1499
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• 2003

Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This paper proposes a new device that can be used to identify all kinematic parameters with partial pose measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The device, however, is general and can be used for other parallel manipulators. The proposed device consists of a link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When attached between the base and the mobile platform, the device restricts the end-effector's motion to five degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the identification is robust for the errors in the initial guess and the measurement noise.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2033-2038
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• 2003

This paper describes an integrated navigation strategy for the autonomous service robot PSR. The PSR is under development at the KIST for service tasks in indoor public environments. The PSR is a multi-functional mobile-manipulator typed agent, which works in daily life. Major advantages of proposed navigation are as follows: 1) Structured control architecture for a systematic integration of various software modules. A Petri net based configuration design enables stable control flow of a robot. 2) A range sensor based generalized scheme of navigation. Any range sensor can be selectively applied using the proposed navigation scheme. 3) No need for modification of environments. (No use of artificial landmarks.) 4) Hybrid approaches combining reactive behavior as well as deliberative planner, and local grid maps as well as global topological maps. A presented experimental result shows that the proposed navigation scheme is useful for mobile service robot in practical applications.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2696-2700
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• 2003

Nuclear robots should be developed for the reduction of radiation exposure, lower man hours, shorter power outage, and also improved worker safety concerns in performing hazardous and dangerous tasks. Among the components of a nuclear robot system, a robot control system equivalent to a human brain is a crucial point because a nuclear robot does not work without a control system. Therefore, in this paper, we will explain the requirements for a robot control system for a nuclear robot from a general point of view and also review the robot control systems of nuclear robots that were developed domestically, to assist a researcher beginning with the design for the control system of nuclear robots. The explained robot control system will be useful to develop the control system for industrial robots, home robots and other robots which are needed for tele-operation and are controlled through the internet.

• Journal of Mechanical Science and Technology
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• v.17 no.12
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• pp.1886-1893
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• 2003

This paper examines the parameter observability of a calibration system that consrains a mobile platform to a planar table to take the calibration data. To improve the parameter observability, we find the optimal configurations providing the calibration with maximum contribution. The QR-decomposition is used to compute the optimal configurations that maximize the linear independence of rows of an observation matrix. The calibration system is applied to the parallel type manipulator constructed for a machining center. The calibration results show that all the necessary kinematic parameters assigned in a Stewart-Gough platform are identifiable and convergent to desirable accuracy.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1500-1505
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• 2003

In order to avoid the unit inconsistency problem in the conventional Jacobian matrix, previously we presented new formulation of a dimensionally homogeneous inverse Jacobian matrix for parallel manipulators with a planar mobile platform by using three end-effector points based on the velocity relationship [1]. This paper presents force relationships between joint forces and Cartesian forces at the three End-Effector points. The derived force relationships can then be used for analyses of the input/output force transmission. These analyses, forward and inverse force transmission analyses, depend on the singular values of the derived dimensionally homogeneous Jacobian matrix. Using the proposed force relationship, a numerical example is presented for actuator size design of a 3-RRR planar parallel manipulator.