• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2481-2485
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• 2003

In this paper novel concept of real reality robot game controlled by a mobile server robot is proposed. Real reality robot game means that two real robots controlled by two human operator through the internet are playing a boxing game. The mobile server robot captures playing images of the boxing game and send them to GUI on the screen of human operators’ PC. The human operator can login to boxing game from any computer in any place if he/she is permitted. Remote control of boxing robot by a motion capture system through network is implemented. Successful motion control of a boxing robot remotely controlled by a motion capture system through network can be achieved.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.1
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• pp.37-44
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• 2018

In this work, a 4-DOF industrial robot system with three translational and one rotational motions which is widely used in palletizing applications is developed. In order for small robot manufacturing companies to develop their own robot systems for CNC machining and/or general automations, the analysis and design methods of a 4-DOF robot manipulator are presented and the development of a PC-based robot controller with EtherCAT are introduced. It is noted that the robot controller is developed by using Simulink Real-Time, which can provide an integrated environment of easier control algorithm development and data logging. Through position control and accuracy/repeatability measurement results, the developed robot prototype has comparable performances with commercial counterparts. In the future works, the advanced functions of industrial robots such as kinematic calibration, vibration suppression control, computed torque control, etc. will be investigated.

• Journal of Korea Society of Digital Industry and Information Management
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• v.9 no.1
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• pp.73-78
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• 2013

In this paper, configuration control for the Horizontal Maintenance of the 2 wheel robot has been studied using ARS(Attitude Refrence System). The 2 wheel robot technique is getting attention and there have been many researches on the seg-way since the US. Using its 2 freedom, a 2 wheel robot can move in various modes and Our robot performs goal reaching ARS.2 wheel robot fall down to the forward or reverse direction to converge to the stable point. Kalman Filter is normally used for the algorithm and numerous research is progressing at the moment. To calculate the attitude in ARS using 2 axis gyro(roll, pitch) and 3 axis accelerometers (x, y, z). In this paper we present a two wheel robot system for an autonomous mobile robot. This paper realized the robot control method which is much simpler but able to get desired performance by using the ARS control.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2000.05a
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• pp.288-291
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• 2000

In this paper we implement a robot system consisted of mobile tole robot to be controlled by client through web browser Newly Internet is connected to all network of the whole world. If client uses the network like this, client can control direction of a robot that is selected in free place. In this study, system is embodied in using robot that can move freely in plan place and cod camera that can grab robot image. System transmit image data of cod camera to java server that is placed in web server of internet that is used by client. Java server display incoming data in home page using java applet. Then web browser offer robot image to client and client send remote control signal to robot. Control signal is transmitted to robot by java server and robot receiving signal moves toward direction wanted by client.

• International Journal of Internet, Broadcasting and Communication
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• v.10 no.3
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• pp.35-41
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• 2018

Smart device has become an affordable main computing resource for robotic ap-plications in accordance with a fast growth of mobile internet environment. Since the computing power of smart device has been increased, smart device based ro-bot system attempts to replace traditional robot applications with laptop-based system. Methodologies for acquisition of remote sensory information and control of various types of robots using smart device have been proposed recently. In this paper, we propose a robot control system using a monitoring program and a communication protocol. The proposed system is a combination of an educa-tional programming oriented robot named EPOR-S. as small service robot plat-form and a smart device. Through a simulation study using image processing, the feasibility of combination of the proposed robot monitoring program and control system was verified.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.231-236
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• 1997

We propose the hybrid control for the path control of wheeled mobile robot system. To develop the hybrid control of mobile robot, the continuous dynamics of mobile robot are modeled by the switched systems. The abstract model and digital automata for the path control are developed. This hybrid control system has the 3-layered hierachical structure : digital automata as the higher process, mobile robot system as the lower process, and the interface as the interaction process between the continuous dynamics and the discrete dynamics. The control of following the desired-paths with edges are investigated as the applications by the computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.460-463
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• 1995

The present paper studies a robot manipulator's contact tasks on the uncertain flexible objects. The flexible object's distributed parameter model is approximated into a lumped "position state-varying" model. By using the well-known nonlinear feedback compensation, the robot's control space is decomposed into the position control subspace and the object's torque control subspace. The optimal state feedback is designed for the position loop, and the robot's contact force is controlled through controlling the resultant torque on the object using model-reference simple adaptive control. Experiments of a PUMA robot interacting with an aluminum plate show the effectiveness of this control approach. approach.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2546-2550
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• 2003

We propose a new method of robot manipulator modeling. Different from existing modelers, our modeler provides a convenient robot modeling configured from modules from module library or module modeling. In addition, a way of using D-H parameters to configure a robot is proposed. These additional functions of robot modeling can be a powerful and flexible tool for various needs of robot modeling. We show an example of modeling with our approach.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.9
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• pp.77-83
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• 2003

In this paper, a robust controller is proposed to control a robot manipulator which is governed by highly nonlinear dynamic equations. The controller is computationally efficient since it does not require the dynamic model or parameter values of a robot manipulator. It, however, requires uncertainty bounds which are derived by using properties of revolute joint robot dynamics. The stability of the robot with the controller is proved by Lyapunov theory. The results of computer simulations show that the robot system is stable, and has excellent trajectory tracking performance.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.435-438
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• 2002

In this paper, a robust controller is proposed to control a robot manipulator which is governed by highly nonlinear dynamic equations. The controller is computationally efficient since it does not require the dynamic model or parameter values of a robot manipulator. It, however, requires uncertainty bounds which are derived by using properties of serial link robot dynamics. The stability of the robot with the controller is proved by Lyapunov theory. The results of computer simulations show that the robot system is stable, and has excellent trajectory tracking performance.