• 한국정밀공학회지
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• 제17권5호
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• pp.84-92
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• 2000

Recently, the progress of industrialization has been taken concern of material handling automation. So for, the conveyor belt has been popular for material handling. However, this system has many disadvantages such as the space, cost, etc. In this paper, a new navigation algorithm using fuzzy is introduced. The mobile robot follows a line installed on the roads. These informations are inputted with three approximate sensors. These obtained informations are analyzed with fuzzy control technique fur autonomous steering. Therefore, unlike existing systems, high reliability is guaranteed under bad environment conditions. The installation and maintenance of a line is easily made at lower cost. This developed mobile robot can be applied to material handling automation in manufacturing system, hospital, inter-office document del ivory.

• 한국정밀공학회지
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• 제30권2호
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• pp.185-193
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• 2013

The construction automation provides safer and more productive working environment of construction site. We developed the automation system of bolting operation for high-rise building in the previous research. However, this system has a weak point that the operation has to be processed in the air with the operator in the cabin. This weakness leads operators to considerably dangerous environment. Therefore, we proposed the tele-operation system in order to supplement this weak point. Furthermore, it leads more effective operation by application of more intuitive controller; spherical coordinate based Master Arm than the joystick in the Mobile Bolting Robot system. These proposed system and controller were evaluated based on Fitts' law paradigm, which is a general estimation method of speed accuracy of task. Through the experimental results, new developed tele-operation system is compared with the actual operation and it discloses distinctions between two systems. As a result, it is found that new developed teleoperation system can be possible to replace the operation in the cabin.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.743-747
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• 1997

Polishing work for a curved surface die demands simple and repetitive operations and requires much time while it also demands high precision. Therefore it is operated by skilled worker in handiwork. Howener workers avoid polishing work gradually because of the poor environments such as dust and noise. In order to reduce the polishing time and to alleviate the problem of shortage of skilled workers, researches for automation of polishing have been pursued in the developed countries. In the research, a polishing robot with 2 degrees of freedom motion attached to machining center with 3 degrees of freedom and pneumatic system forms an automatic polishing system which keeps the polishing tool vertically on the surface of die and maintains constant pneumatic pressure. A synchronization between machining center and polishing robot is accomplished by using M code of machining center. A rulled surface and shadow mask are polished by the developed polishing robot.

• 한국산업융합학회 논문집
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• 제18권2호
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• pp.75-81
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• 2015

This study proposes an articulated robot control system using an on/off-line robot graphic simulator with multiple networks. The proposed robot control system consists of a robot simulator using OpenGL, a robot controller based on a DSP(TMS320) motion board, and the server/client communication by multiple networks. Each client can control the real robot through a server and can compare the real robot motion with the virtual robot motion in the simulation. Also, all clients can check and analyze the robot motion simultaneously through the motion image and data of the real robot. In order to show the validity of the presented system, we present an experimental result for a 6-axis vertical articulated robot. The proposed robot control system is useful, especially, in the industrial fields using remote robot control as well as industrial production automation with many clients.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1991년도 하계학술대회 논문집
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• pp.713-716
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• 1991

This paper describes a methodology of mobile robot navigation which is designed to carry heavy payloads at high speeds to be used in FMS(Flexible Manufacturing System) without human control. Intelligent control scheme using fuzzy logic is applied to the navigation control. It analyzes sensor readings from multi-sensor system, which is composed of ultrasonic sensors, infrared sensors and odometer, for environment learning, planning, landmark detecting and system control. And it is implemented on a physical robot, AGV(Autonomous Guided Vehicle) which is a two-wheeled, indoor robot. An on-board control software is composed of two subsystems, i.e., AGV control subsystem and Sensor control subsystem. The results show that the navigation of the AGV is robust and flexible, and a real-time control is possible.

• 한국산학기술학회논문지
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• 제12권1호
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• pp.38-44
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• 2011

본 자원탐사의 중요성이 증대되고 있는 상황에서, 효과적인 자원탐사방법의 최적설계 및 탐사자동화가 중대 관심사가 되고 있다. 본 연구는 수치적인 모델링의 문제점을 해결하기 위하여, 현장의 환경을 하드웨어적으로 재현한 탐사환경 축소모형 로봇 시스템을 제안한다. 종래의 이동로봇 시스템을 개량하여 케이블카용 로봇시스템을 개발하였다. 본 시스템은 로봇의 자장 노이즈를 극소화시키고, 자장 그레디언트의 현장 측정 재현을 통하여 효과적인 설계지침을 제공한다. 또한 케이블카형 이동방법은 이용하여, 험지에서 탐사 자동화등에 활용될 수 있다.

• Journal of Biosystems Engineering
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• 제25권1호
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• pp.63-70
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• 2000

In Korea, researches for year-round leaf vegetables production system are in progress and the most of them are focused on environment control. Automation technologies for harvesting , transporting and grading need to be developed. This study was conducted to develop harvesting process automation system profitable to a competitive price. 1. Manipulator and end-effector are to be designed and fabricated , and fuzzy logic controller for controlling these are to be composed. 2. The entire system constructed is to be evaluated through a performance test. A robot system for harvesting a lettuce was developed. It was composed of a manipulator with 20DOF (degrees of freedom) an end-effector, a lettuce feeding conveyor , an air blower , a machine vision device, 6 photoelectric sensors and a fuzzy logic controller. A fuzzy logic control was applied to determined appropriate grip force on lettuce. Leaf area index and height index were used as input parameters, and voltage was used as output parameter for the fuzzy logic controller . Success rate of the lettuce harvesting system was 93.06% , and average harvesting time was about 5 seconds per lettuce.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.705-710
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• 1989

A practical method of identifying the inertial parameters, viscous friction and Coulomb friction of a robot is presented. The parameters in the dynamic equations of a robot are obtained from the measurements of the command voltage and the joint position of the robot. First, a dynamic model of the integrated motor and manipulator is derived. An off line parameter identification procedure is developed and applied to the University of Minnesota Direct Drive Robot. To evaluate the accuracy of the parameters the dynamic tracking of robot was tested. The trajectory errors were significantly reduced when the identified dynamic parameters were used.

• International Journal of Internet, Broadcasting and Communication
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• 제13권4호
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• pp.90-96
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• 2021

The logistics market is continuously growing due to the development of technology and the growth of the online market. In addition, the social atmosphere that emphasizes non-face-to-face due to the pandemic situation is accelerating the growth of logistics. Delivery of goods ordered online requires delivery process through courier worker. In order for the courier worker to ship the product, the work of loading the product on the truck must be preceded. The accident caused by such delivery and loading work is increasing and it is emerging as a social problem. This study proposes a robot-based automated loading system to efficiently handle the increasing volume of courier service and to construct a more efficient and safe working environment by replacing the physical labor that was overloaded to courier workers. The proposed system replaces the loading of the courier worker and proposes the optimal loading function through the automation system.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2016년도 추계 학술논문 발표대회
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• pp.140-141
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• 2016

Dynamic nature and diverse requirements on construction sites make the automation technology harder to be employed actively. In this study, we analyzed optimal type of automation system and importance of core technologies for developing efficient construction automation system on 11 construction operations. As a result, it showed that man-machine cooperation system may be the most suitable for most operations, while autonomous robot will be best suited in hard working environment such as maintenance of exterior wall. In elemental technology, ease and accuracy of control and operation showed higher priority than others regardless of automation system type. These findings will provide useful information for developing the construction automation system.