• Journal of the Korean Society for Precision Engineering
• /
• v.32 no.7
• /
• pp.653-660
• /
• 2015

This paper describes the design of the force measuring system for an industrial robot's deburring work. The force measuring system is composed of a three-axis force sensor, a measuring device, a housing and a cover. The three-axis force sensor can detect x-direction force, y-direction force and z-direction force at the same time. The measuring device is designed using DSP(Digital Signal Processor), and have a RS-232 and a RS-485 communication port for sending force data to PC or other controller. As a result of test, the repeatability error and the non-lineality error of the three-axis force sensor are less than 0.03%, and the interference error of the sensor is less than 0.95%. It is thought that the force measuring system can be used for an industrial robot's deburring work.

• Journal of Institute of Control, Robotics and Systems
• /
• v.9 no.8
• /
• pp.585-591
• /
• 2003

A virtual force is generated and fed back to the operator to make the teleoperation more reliable, which reflects the relationship between a slave robot and an uncertain remote environment as a form of an impedance. In general, for the teleoperation, the teleoperated mobile robot takes pictures of the remote environment and sends the visual information back to the operator over the Internet. Because of the limitations of communication bandwidth and narrow view-angles of camera, it is not possible to watch certain regions, for examples, the shadow and curved areas. To overcome this problem, a virtual force is generated according to both the distance between the obstacle and the robot and the approaching velocity of the obstacle w.r.t the collision vector based on the ultrasonic sensor data. This virtual force is transferred back to the master (two degrees of freedom joystick) over the Internet to enable a human operator to estimate the position of obstacle at the remote site. By holding this master, in spite of limited visual information, the operator can feel the spatial sense against the remote environment. It is demonstrated by experiments that this collision vector based haptic reflection improves the performance of teleoperated mobile robot significantly.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.134.5-134
• /
• 2001

The capability of environment recognition is very important for mobile robot. Especially, a function of target tracking is necessary in monitoring and watching an object using mobile robot. In general, vision sensors such as CCD camera and laser range finder were used for tracking of a moving target. However, they are not only affected by intensity of illumination in environment but also require high performance processors to process large amount of data. Therefore, in this paper, we propose the construction of target tracking system for mobile robot using only ultrasonic sensors to cope with these problems.

• 제어로봇시스템학회:학술대회논문집
• /
• 1986.10a
• /
• pp.383-386
• /
• 1986

In this paper, ultrasonic range finding module for the self-contained robot, INHAE-1, is presented. This system is processed, using Z-80 microprocessor, a much of information on the surrounding condition in real time and is realted a sensor for many side data acqusition with a stepping motor. Also this system can obtain the more correct edge of the obstacle using the standard deviation of the least-square method. In this experiment, it gives more correct information to mobile robot of the blind guidance and improves the orientation of the robot path.

• Proceedings of the IEEK Conference
• /
• 2002.06c
• /
• pp.235-238
• /
• 2002

This paper presents a remote mobile robot system that transmits streaming video and audio over the lossy packet networks such as (Wireless) LAN. The error resilient video and audio packets are transmitted on the RTP/UDPfP Protocol stack. The mobile robot can be accessed by a certified user from the remoted area. Thus, the movement of mobile robot can be controlled by the operator observing the working surroundings.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.25 no.3
• /
• pp.254-259
• /
• 2015

In this paper, The wireless robot control system was proposed using Brain-computer interface(BCI) systems based on the steady-state visual evoked potential(SSVEP). Cross Power Spectral Density(CPSD) was used for analysis of electroencephalogram(EEG) and extraction of feature data. And Linear Discriminant Analysis(LDA) and Support Vector Machine(SVM) was used for patterns classification. We obtained the average classification rates of about 70% of each subject. Robot control was implemented using the results of classification of EEG and commanded using bluetooth communication for robot moving.

• Journal of the Institute of Electronics Engineers of Korea CI
• /
• v.48 no.6
• /
• pp.88-96
• /
• 2011

Underwater acoustic communication is applicable in various areas, such as ocean data collection, undersea exploration and development, tactical surveillance, etc. Thus, robot control system construction used for underwater-robot like AUV or ROV is essential in these areas. In this paper, we propose the Message Merging MAC($M^2$-MAC) protocol, which is suitable for real time robot control system, considering energy efficiency in important parts of underwater acoustic sensor network constitution. In this proposed MAC protocol, gateway node receives the data from robot nodes according to the time slots that were allotted previously. And messages delivered from base-station are generated to one MAC frame by buffering process. Finally, generated MAC frames are broadcasted to all robot nodes in the cluster. Our suggested MAC protocol can also be hybrid MAC protocol, which is successful blend of contention based and contention-free based protocol through relevant procedure with Maintenance&Sleep (M&S) period, when new nodes join and leave as an orphan. We propose mathematical analysis model concerned about End-to-End delay and energy consumption, which is important factor in constructing real-time robot control system. We also verify the excellence of performance according to comparison of existing MAC protocols with our scheme.

• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.1
• /
• pp.48-57
• /
• 2014

It is suggested that the curvature trajectory be used to estimate the real-time moving sound sources and efficiently the robot estimating the sound sources. Since the target points of the real-time moving sound sources change, the mobile robot continuously estimates the changed target points. In such a case, the robot experiences a slip phenomenon due to the abnormal velocity and the changes of the navigating state. By selecting an appropriate curvature and navigating the robot gradually by using it, it is possible to enable the robot to reach the target points without having much trouble. In order to recognize the sound sources in real time, three microphones need to be organized in a straight form. Also, by applying the cross-correlation algorithm to the TDOA base, the signals can be analyzed. By using the analyzed data, the locations of the sound sources can be recognized. Based on such findings, the sound sources can be estimated. Even if the mobile robot is navigated by selecting the gradual curvature based on the changed target points, there could be errors caused by the inertia and the centrifugal force related to the velocity. As a result, it is possible to control the velocity of both wheels of the robot through the velocity PID controller in order to compensate for the slip phenomenon and minimize the estimated errors. In order to examine whether the suggested curvature trajectory is appropriate for estimating the sound sources, two mobile robots are arranged to carry out an actual experiment. The first robot is moved by discharging the sound sources, while the second robot recognizes and estimates the locations of the discharged sound sources in real time.

• Journal of Korea Multimedia Society
• /
• v.18 no.3
• /
• pp.387-400
• /
• 2015

A fuzzy logic based mobile robot navigation system was developed to improve the driving ability without trapping inside obstacles in complex terrains, which is one of the most concerns in robot navigation in unknown terrains. The navigation system utilizes the data from ultrasonic sensors to recognize the distances from obstacles and the position information from a GPS sensor. The fuzzy navigation system has two groups of behavior rules, and the robot chooses one of them based on the information from sensors while navigating for the targets. In plain terrains the robot with the proposed algorithm uses one rule group consisting of behavior rules for avoiding obstacle, target steering, and following edge of obstacle. Once trap is detected the robot uses the other rule group consisting of behavior rules strengthened for following edge of obstacle. The output signals from navigation system control the speed of two wheels of the robot through the fuzzy logic data process. The test was conducted in the Matlab based mobile robot simulator developed in this study, and the results show that escaping ability from obstacle is improved.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.820-824
• /
• 2004

Personal Robot System in developing, have a module architecture, each module are connected through heterogeneors network systems like Ethernet, WLAN (802.11), IEEE1394 (Firewire), Bluetooth, USB, CAN, or RS-232C. In developing personal robot system we think that the key of robot performance is interoperability among modules. Each network protocol are well connected in the view of network system for the interoperability. So we make a bridging architecture that can routing, converting, transporting data packets with matcing each network's properties. Furthermore we suggest a advanced design scheme for realtime / non-realtime and control signal (short, requiring hard-realtime) / multimedia data (large, requiring soft-realtime). By some application systems, we could test performance, interoperability and stability. In this paper, we show our design concept, middleware architecture, and some applications systems using this middleware.