• 제어로봇시스템학회논문지
• /
• 제10권3호
• /
• pp.261-266
• /
• 2004

Recently, a variety of intelligent robots are developed for the personal purpose beyond the industrial application. These intelligent robots have ranges of sensors, actuators, and control algorithms to their application. In this paper we propose a reconfigurable robot controller, $SR^2$c (The SOPC-based Reconfigurable Robot Controller), based on SOPC (System on a Programmable Chip), that can be reconfigurable easily by software. The proposed robot controller contains not only a processing module but also robot-specific IP's. To show a feasibility of the proposed robot controller, a small entertainment robot, Wizard-4 is implemented with a single chip controller as proposed in this paper.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.24-27
• /
• 2004

This paper describes the method how to control an autonomous robot remotely using Internet. The autonomous robot that has an artificial brain is called "Tarou". (1) It is able to move along the line on the floor based on processing the image data obtained from two CCD cameras. (2) It is able to understand dialogs between human being and it and is able to take actions such as turn right and lefts, go forward 1m and go backward 0.5m, etc. (3) It is able to recognize patterns of objects. (4) It is able to recognize human faces. (5) It is able to communicate human being and to speak according to contents written in the program. We show the techniques to control the autonomous robot "Tarou" remotely by personal computer and/or portable Phone via Internet. The techniques developed in our research could dramatically increase their performance for..the need of artificial life robot as the next generation robot and national homeland security needs.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2002년도 춘계학술대회 논문집
• /
• pp.3-8
• /
• 2002

An intelligent polishing robot automation system is developed. Automatic Tool Change System(A.T.C.), Tool Posture Angle Control, and Robot Program for Polishing Application are developed and integrated into a robotic system that consists of a robot, pneumatic finding tool, and finding abrasives (papers and special films). A.T.C. is specifically designed to exchange whole grinding tool set for complete unmanned operation. Tool Posture Angle Control is developed to give a certain skew angle rather than right angle to tools on the surface for best finishing results. A.T.C. and Tool Posture Angle Control is controlled by a PC and the robot controller. Also, there have been some considerations on enhancing the performance of the system. Some elastic material is inserted between the grinding pad and the holder for better grinding contact. The robot path data is generated automatically from the NC data of previous machining process.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.1936-1939
• /
• 2004

This paper proposes streaming layer for personal robot's middleware. Under assumption that robot has open architecture, i.e. consists of modules created by different vendors and intercommunication between these modules is necessary, we have to consider that there are many different network interfaces. To make communication between modules possible it is necessary to develop new type of middleware. Such middleware has to support different platforms, i.e. OS, network interface, hardware, etc. In addition, it is necessary to implement effective interface between network and application in order to manage inter application communications and use network resources more effectively. Streaming layer is such interface that implements necessary functionality together with simplicity and portability. Streaming layer provides high level of abstraction and makes communication between distributed applications transparent as if are located in same module. With possibility of extension by user defined application interfaces it is suitable for distributed environments, i.e. module based architecture including small-embedded systems like as DSP board. To verify the proposed streaming layer structure it is implemented using C and tested.

• 한국공작기계학회:학술대회논문집
• /
• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
• /
• pp.432-439
• /
• 1999

In this paper, an off-line programming(OLP) system is presented as the three dimensional graphic simulator and one of the human-robot interface systems for industrial robots. The OLP system has been especially developed to testify robot programs visually using three dimensional geometric modeling and graphics technologies in personal computes. A special feature is its capability of collision detection and of comparing performance of control algorithms. This paper places the focus on the structure and major characteristic of OLP system.

• 한국산업정보학회논문지
• /
• 제16권2호
• /
• pp.99-109
• /
• 2011

본 논문에서는 손동작 인식을 통하여 원격지의 로봇이나 기타 구동장치를 제어할 수 있는 개인용 커뮤니케이터(personal communicator)와 가정 내 정보가전기기를 제어할 수 있는 홈게이트웨이 및 이동형 홈서버의 설계 및 구현 대용을 기술한다. 임베디드 보드 기반의 개인용 커뮤니케이터는 사용자의 손동작을 인식하고 그 동작을 추적하여 원격지의 이동형 홈서버의 동작을 제어하기 위한 적절한 명령으로 변환한다. 본 구현에서는 LN2440 임베디드 전용보드 상에 손동작 인식 및 추적, 원격 이동형 홈서버 제어 명령 변환, 무선 접속기능을 이용한 홈게이트웨이 제어, 사용자 인터페이스의 설계 및 구현, 단위 및 통합 테스트의 내용을 기술한다. 본 구현은 원격탐사로봇 제어, 장애인 구동장치 제어 등 원격지의 구동 장치를 제어할 수 있는 다양한 분야에 활용될 수 있는 장점이 있다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.622-627
• /
• 2003

The existing remote control system have some inherent disadvantage of direct control in the limit range. In some special cases, for example, a power apparatus, an unmanned factory, a nuclear factory, a security management system, the tele-operation is needed to control remote robot without limit space. This field is based on the Internet communication. Because the Internet is constructed all over the world. And it is possible that we control remote mobile robot in the long distance. In this paper, we developed a remote control system. This system is divided into two primary parts. These are local site and remote site. There are the moving robot and web server in the remote site and there is the robot control device in local site. The moving robot is moved by two stepper motors and the robot control device consists of SA-1100 micro controller and embedded Linux. And this controller is an embedded system. Public personal computer which is connected the Internet is used for the web server. The web server provides the mobile robot control interface program to the remote controller and captures the image for feedback information. In the whole system, a robot control device is connected with moving robot and web server through the Internet. So the operator can control the moving robot in the distance through the Internet.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2006년도 학술대회 논문집 전문대학교육위원
• /
• pp.175-180
• /
• 2006

In this paper, we develope a type of humanoid robot which can express its emotion against human actions. To interact with human, the developed robot has several abilities to express its emotion, which are verbal communication with human through voice/image recognition, motion tracking, and facial expression using fourteen Servo Motors. The proposed humanoid robot system consists of a control board designed with AVR90S8535 to control servor motors, a framework equipped with fourteen server motors and two CCD cameras, a personal computer to monitor its operations. The results of this research illustrate that our intelligent emotional humanoid robot is very intuitive and friendly so human can interact with the robot very easily.

• ETRI Journal
• /
• 제40권4호
• /
• pp.446-457
• /
• 2018

Robot navigation allows robot mobility. Therefore, mobility is an area of robotics that has been actively investigated since robots were first developed. In recent years, interest in personal service robots for homes and public facilities has increased. As a result, robot navigation within the home environment, which is an indoor environment, is being actively investigated. However, the problem with conventional navigation algorithms is that they require a large computation time for their building mapping and path planning processes. This problem makes it difficult to cope with an environment that changes in real-time. Therefore, we propose a humanoid robot navigation algorithm consisting of an image processing and optimization algorithm. This algorithm realizes navigation with less computation time than conventional navigation algorithms using map building and path planning processes, and can cope with an environment that changes in real-time.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
• /
• pp.493-496
• /
• 1990

Recently, the robot control systems are required to be more flexible and intelligent in order to execute more complex and delicate tasks. As an approach to such system, a PC-based robot control system is presented in this paper. The axis controllers are independently designed for each joint of robot manipulator and are supervised by a personal computer. Therefore, the almost system program including the control algorithm can be easily developed and modified in the PC's environment. This proposed control system was successfully applied to 4 axis SCARA-type robot and the associated S/W modules were developed. We can construct sensory robot systems by simply connecting the sensing devices to the PC and the study on this now being progressed.