• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.350-356
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• 2020

Workers have been replaced by mobile manipulators for factory automation in recent years. One of the typical tasks for automation is that a mobile manipulator moves to a target location and picks and places an object on the worktable. However, due to the pose estimation error of the mobile platform, the robot cannot reach the exact target position, which prevents the manipulator from being able to accurately pick and place the object on the worktable. In this study, we developed an automatic alignment system using a low-cost camera mounted on the end-effector of a collaborative robot. Camera calibration and pose estimation methods were also proposed for the automatic alignment system. This algorithm uses a markerboard composed of markers to calibrate the camera and then precisely estimate the camera pose. Experimental results demonstrate that the mobile manipulator can perform successful pick and place tasks on various conditions.

• Proceedings of the Korea Concrete Institute Conference
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• 2009.05a
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• pp.561-562
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• 2009

The needs for inspection automation for more systematic and efficient maintenance were gradually increased by several inspectors and researchers. With the robotic and digital image processing technologies, in this paper, new inspection automation system were introduced and tested in the real PSC box crack inspection procedures The configuration and scheme of robotic inspection and digital image processing algorithms were represented. The designed robotic sensors and image processing system were tested and the feasibility and possibility of the robot based automatic inspection were approved in the real PSC box bridges.

• Proceedings of the KIEE Conference
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• 1987.11a
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• pp.430-434
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• 1987

This paper describes implementation of a robot programming system for automation of manufacturing products, which is embedded in the C programming language. World representation and motion primitives necessary to describe a manipulator task are provided by a set of procedure calls and user defined data structures. Off-line programming is implemented with graphic simulation as a debugging tool. PUMA 560 manipulators are used as a model for one task which inserts a nonstandard power IC Iota PCB. Communication facilities are provided for collision avoidance or two manipulators.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2020.06a
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• pp.18-19
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• 2020

Domestic and foreign high-rise buildings are expected to continue to increase in the future. In addition, recently, residents and landlords are demanding maintenance necessary to secure the performance of sustainable buildings, so an effective management plan is needed. Therefore, this study aims to develop customized technologies that can be effectively applied to building structures by comprehensively analyzing existing technology-based research cases. As a result, it is expected that this will serve as a stepping stone to present a s+ample of future technology development along with a reduction in labor dependency on maintenance and quality improvement.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1435-1439
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• 2004

Most recently, CP(Cellular Phone) has been one of the most important technologies in the IT(Information Tech-nology) field, and it is situated in a position of great importance industrially and economically. To produce the best CP in the world, a new technological concept and its advanced implementation technique is required, due to the extreme level of competition in the world market. The RT(Robot Technology) has been developed as the next generation of a future technology. Current robots require advanced technology, such as soft computing, human-friendly interface, interaction technique, speech recognition, object recognition etc. unlike the industrial robots of the past. Therefore, this paper explains conceptual research for development of the RCP(Robotic Cellular Phone), a new technological concept, in which a synergy effect is generated by the merging of IT & RT. RCP infra consists of $RCP^{Mobility}$ $RCP^{Interaction}$, $RCP^{Integration}$ technologies. For $RCP^{Mobility}$, human-friendly motion automation and personal service with walking and arming ability are developed. $RCP^{Interaction}$ ability is achieved by modeling an emotion-generating engine and $RCP^{Integration}$ that recognizes environmental and self conditions is developed. By joining intelligent algorithms and CP communication network with the three base modules, a RCP system is constructed. Especially, the RCP mobility system is focused in this paper. $RCP^{Mobility}$ is to apply a mobility technology, which is popular robot technology, to CP and combine human-friendly motion and navigation function to CP. It develops a new technological application system of auto-charging and real-world entertainment function etc. This technology can make a CP companion pet robot. It is an automation of human-friendly motions such as opening and closing of CPs, rotation of antenna, manipulation and wheel-walking. It's target is the implementation of wheel and manipulator functions that can give service to humans with human-friendly motion. So, this paper presents the definition, the basic theory and experiment results of the RCP mobility system. We confirm a good performance of the RCP mobility system through the experiment results.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2011.11a
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• pp.133-134
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• 2011

While researches related with construction automation have dramatically increased, a Robot-based Automatic Construction system (RCA system) has developed for high-rise buildings in Korea. At the aspect that wide adoption of the RCA system is dependent on economic efficiency comparing with a conventional method, feasibility study on the RCA system should be implemented. However, due to practical limitations, the RCA system has tested to a seven story building. Based on the test results, this study implements a cost/benefits analysis to a simulated forty story building in order to derive more reliable data on the RCA system's practicability.

• Journal of Electrical Engineering and Technology
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• v.9 no.6
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• pp.2162-2167
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• 2014

Robots are widely used in various automation processes in industrial applications. Traditionally, it operated under fixed condition by teaching operating positions. Recently, diverse 2D/3D sensors are used together with robot to give more flexibility in operation. In this paper, we deal with automatic manipulation of tie rod in automotive production line. Sensor system consisted of a camera and slit laser is used for the acquisition of 3D information and it is used attached on the robot. Nut runner is used for the manipulation of stop nut and adjust bolt on the tie rod. Detailed procedures for the automatic manipulation of tie rod are presented. In the presented approach, we effectively use 3D information in whole procedure such as computing distance to the tie rod, rotation angle of bolt and nut. Experimental results show the feasibility of the proposed algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.7
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• pp.595-601
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• 2005

A mobile robot system utilizing NDT (Non-Destructive Testing) method is designed and fabricated f3r automatic integrity evaluation of large sized industrial reservoirs and pipelines. The developed mobile robot can crawl over the outer surface of the industrial facilities even though the shape of the structures is various and unsymmetric. The robot detects defects such as pinholes, cracks and thickness reduction at the wall of the facilities using EMAT (Electro-Magnetic Acoustic Transducer). Image processing technology for weld line detection at the surface of the target and host programs including defect detecting algorithms are also developed. Automation of defect detection for these kinds of large facilities using mobile robots is helpful to prevent significant troubles of the structures without danger of human beings under harmful environment.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.808-812
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• 2003

We need a lot of manpower and we can cut down a labor cost by applying industrial robots the footwear bonding automation process. In this study, we suggest how to program off-line robot path along a shoe's outsole shape in the footwear bonding process by 5-axis microscribe system like robot arms. This microscribe system development consists 5-axis microscribe mechanics, signal processing circuit, and PC with software. It is the system for making database of a shoe's outsole through the movement of a microscribe with many joints. To do this, first read 5-encoders' pulse values while a robot arm points a shoe's outsole shape from the initial status. Then, calculate a relative shoe's outsole by Denavit-Hatenberg's (D-H) direct Kinematics of known length of links and coordinate values. Next, calculate the encoders' pulse values of the robot arm's rotation and transmitting the angle pulse values to the PC through a circuit. Finally, it is able to display a shoe's outsole at real-time by computing the Denvavit-Hantenberg's (D-H) direct kinematics in the PC. With the coordinate values calculated above, we can draw a bonding gauge-line on the upper. Also, we can make off-line robot path programming compute a shoe's bonding area on the upper. These results will be effectively applied for programming a robot path on off-line and automatically.

• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.713-721
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• 2008

This paper presents the robust velocity estimation of an omnidirectional mobile robot using a polygonal array of optical mice that are installed at the bottom of the mobile robot. First, the velocity kinematics from a mobile robot to an array of optical mice is derived as an overdetermined linear system. The least squares velocity estimate of a mobile robot is then obtained, which becomes the same as the simple average for a regular polygonal arrangement of optical mice. Next, several practical issues that need be addressed for the use of the least squares mobile robot velocity estimation using optical mice are investigated, which include measurement noises, partial malfunctions, and imperfect installation. Finally, experimental results with different number of optical mice and under different floor surface conditions are given to demonstrate the validity and performance of the proposed least squares mobile robot velocity estimation method.