• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.44.3-44
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• 2001

This articles describes a novel design elastic joint manipulator for a mobile robot, which works in an office environment with humans. The primary goal of this manipulator design is safeness on collision and contact. To achieve this, each joint is made of an elastic element and this is driver with a high ratio gear tram. The performance was verified, however, it has a serious drawback. It produce vibration, due to the elastic joints and high ratio gear train. We found that a sliding mode controller has an excellent performance for reducing such vibration. Results of computer simulation and experiments are shown.

• Nuclear Engineering and Technology
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• v.41 no.1
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• pp.125-134
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• 2009

This paper presents details on a tube inspection robotic system and a positioning method of the robot for a steam generator (SG) in nuclear power plants (NPPs). The robotic system is separated into three parts for easy handling, which reduces the radiation exposure during installation. The system has a supporting leg to increase the rigidity of the robot base. Since there are several thousands of tubes to be inspected inside a SG, it is very important to position the tool of the robot at the right tubes even if the robot base is positioned inaccurately during the installation. In order to obtain absolute accuracy of a position, the robot kinematics was mathematically modeled with the modified DH(Denavit-Hartenberg) model and calibrated on site using tube holes as calibration points. To tune the PID gains of a commercial motor driver systematically, the time delay control (TDC) based gain tuning method was adopted. To verify the performance of the robotic system, experiments on a Framatomes 51B Model type SG mockup were undertaken.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2005.11a
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• pp.542-545
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• 2005

본 연구에서는 Home Network System에서 가전기기들을 제어하고 집안의 상황을 원격지에 있는 사용자에게 전달해 줄 수 있는 Home Network Mobile Robot을 제작하여 보다 더 지능적이고 사용자에게 편리한 Home Network System을 구축한다. 이를 위해 본 논문에서는 실제 Home Network 시스템 하에서의 자율이동 로봇을 고안하였으며 이의 구동을 위해 OS로는 Linux Kernel 2.4를 Porting 하였고, Vision 및 Ethernet 통신이 용이하도록 회로를 설계, 제작하였다.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.12
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• pp.1-12
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• 1996

A new local path planning algorithm using DPH (distance profile histogram) is suggested in this paper. The proposed method makes a grid type world map using distance values from multiple ultrasonic sensors and genrates local points through which the mobile robot can avoid obstcles safely. The DPH (distance profile historgram) represents geometrical arrangement of obstacles around the robot in the local polar coordinate system which is assumed to be atached to the robot. To control robot's navigation, a three-layered control structure is adopted. The proposed local path planning algorithm is placed on the top level. And a point-to-point translation controller takes the middle level. The bottom level consists of a velcoity servo and sonar driver modules which take charge of driving physical hardwares. The validity of the propsoed method is demonstated through several experiments.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1723-1726
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• 2003

Clean and well maintained roadway signs are important for preserving driver's safety. The existing signs on the roadway must be periodically re-painted in order to maintain clean state. However, current sign painting operations are manually performed now. These are very slow and workers are exposed to very dangerous and hazard working environment. In this paper, we present the method for automating this job with gantry robot and spray system. In addition, we suggest two design concepts to resolve the problem that it is impractical to make the gantry system so big as to cover whole lane width. In order to show the validity of this system, the painting operation is simulated and experimentally executed.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1675-1678
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• 2004

In this paper, web based monitoring systems are implemented for multi-axis force control systems of an intelligence robot. A brief review about the principle of multi-axis force sensors and a method that can reduce the effect of noise signal to sensor performance is presented. A web based monitoring system is implemented by porting Linux at embedded systems which include Xscale processors. A device driver is developed to receive data from multi-axis force sensors in Linux operation systems. To control this device driver, a socket program for web browser is also developed. The experiments are performed to investigate the effectiveness of proposed methods. The experimental results show that the values of force sensors can be monitored by remote PCs.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.69-70
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• 2010

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.4
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• pp.583-588
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• 2013

In this paper we propose implement technique of vector current control in order to verify performance of an AC servo driver that is able to easy control of motion with multi-axis in the robot. In doing do, we have developed the AC servo driver to driving PMSM, and then we confirm that this driver whether operating or not normally by controlling of vector current. The vector current control was performed at the no load condition in PMSM. Then we compare command control and tracking control. As a result of verification, we recognize we get a satisfactory result.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.2
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• pp.176-182
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• 2011

Industrial network, often referred to as fieldbus, becomes an indispensable component for intelligent manufacturing systems. Thus, in order to satisfy the real-time requirements of field devices such as sensors, actuators, and controllers, numerous fieldbus protocols have been developed. But, the application of fieldbus has been limited due to the high cost of hardware and the difficulty in interfacing with multi-vendor products. As an alternative to fieldbus, the Ethernet (IEEE 802.3) technology is being adapted to the industrial environment. However, the crucial technical obstacle of Ethernet is its non-deterministic behavior that cannot satisfy the real-time requirements. Recently, the EtherCAT protocol becomes a very promising alternative for real-time industrial application due to the elimination of uncertainties in Ethernet. This paper focuses on the implementation of the IEC 61800 based real-time EtherCAT network for multi-axis smart driver. To demonstrate the feasibility of the implemented EtherCAT slave module, its synchronization performance is evaluated on the experimental EtherCAT testbed with a single axis smart driver.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.6
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• pp.2497-2503
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• 2012

In this study an educational robot for programming education was designed and implemented. The robot in this study is composed of hardware containing a sensor, a processor, and a motor driver circuit, software to control the educational robot, machine parts to manufacture the robot structure, and a teaching material containing educational contents and the manufacturing manual. This robot is characterized by direct programming without a computer, which gives no spatial restrictions on robot education and enables dynamic program education beyond limitations of the existing static computer program education since students' programming results are found in the robot's movements. User-centered functional commands, which make it possible to control the robot with simple knowledge concerning hardware and basic commands, were used to enable even students who first accessed a robot or computer program to make access with ease.