• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 춘계학술대회 논문집
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• pp.570-573
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• 2000

A control law for a SCARA robot manipulator is designed using recursive torque methods. This scheme uses previous torques and error dynamics to generate torque controls at the present time and adopts relatively simple numerical and control algorithms that can be easily realizable. In order to evaluate the performance and robustness of the suggested control system, the 2-link SCARA robot manipulator is practically implemented using a dSPACE interface. It is found that the recursive controller has a good tracking performance in spite of the presence of payload disturbances.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.41-46
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• 1990

In the existing robot programming methods, off-line method becames important role of programming because of improvement of hardware and software of PC. The purpose of this study is to develop practical robot programming system for polishing task using PC. In the first place, we have investigated the existing robot programming systems, and derived the requirement of this programming system from the existing systems. And we have decided the structure of this system. After that, we have developed this system. Using Windows software, this programming system has man/machine interface function. So users can use easily and quickly.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
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• pp.565-570
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• 1999

In this paper, we developed a windows 95 version Off-Line Programming system which can simulate a Robot model in 3D Graphics space. 4axes SCARA Robot (especially FARA SM5) was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the OLP system in the Windows 95's GUI environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by silicon Graphics, Inc. were utilized for 3D Graphics.

• 한국감성과학회:학술대회논문집
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• 한국감성과학회 2008년도 추계학술대회
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• pp.98-101
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• 2008

The goal of this paper is to select and analyze the sound for robot which can help and serve the big retail market, as the part of research for design foundation development of Human Robot Interface. The sounds which are related with activity, such as thanks, reject, agony,absurdity, gladness, approval, were selected among targeted sounds with 2 step SD method. The result for using Quantitative analysis model-3 with psychological similar degree of selected sound was argued with 'the brightness of sound' and 'violent of sound'.

• 한국기계연구소 소보
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• 통권20호
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• pp.33-39
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• 1990

In the existing robot programming methods, off-line method because important role of programming because of improvement of hardware and softeare of PC. The purpose of this study is to develop practical robot programming system for polishing task using PC. In the first place, we have investigated the existing robot programming systems, and derived the requirement of this programming system from the existing systems. And we have decied the structure of this system. After that, we have developed this system. Using Windows software, this programming system has man/machine interface function. Therefore users can use easily and quickly.

• 한국군사과학기술학회지
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• 제12권6호
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• pp.689-696
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• 2009

In this paper, a new user interface for unmanned combat vehicle(UCV) is developed based on the mission planning and global path planning. In order to complete a tactical mission given to an UCV, it is essential to design an effective interface scheme between human and UCV considering changing combat environment and characteristics of the mission. The user interface is mainly composed of two parts, mission planning and global path planning, since they are important factors to accomplish combat missions. First of all, mission types of UCV are identified. Based on mission types, the concept of mission planning for UCVs is presented. Then a new method for global path planning is devised. It is capable of dealing with multiple grid maps to consider various combat factors so that paths suitable for the mission be generated. By combining these two, a user interface method is suggested. It is partially implemented in the Dog-horse Robot of ADD and its effectiveness is verified.

• 한국지능시스템학회논문지
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• 제25권3호
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• pp.254-259
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• 2015

본 논문은 BCI(Brain Computer Interface)기반의 정상상태시각유발전위(SSVEP : Steady-State Visual Evoked Potential)를 사용하여 무선 로봇 제어를 위한 시스템을 제안하였다. CPSD(Cross Power Spectral Density)를 사용하여 전극의 신호를 분석하였다. 또한 분류를 위해서 LDA(Linear Discriminant Analysis)와 SVM(Support Vector Machine)을 사용하였다. 그 결과 피험자들의 평균 분류율은 약 70%로 나타났다. 로봇제어의 경우 뇌파의 값을 분류하여 나타난 결과 값으로 로봇이 움직일 수 있도록 구현하였고, 블루투스 통신을 이용하여 로봇제어를 수행하였다.

• 로봇학회논문지
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• 제12권2호
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• pp.116-123
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• 2017

Wearable robots are receiving great attention from the public, as well as researchers, because its motivation is to improve the quality of lives of people. Above all, complete paraplegic patients due to spinal cord injury (SCI) might be the most adequate target users of the wearable robots, because they definitely need physical assistance due to the complete loss of muscular strength and sensory functions. Furthermore, the medical care of complete paraplegics by using the wearable robots have significantly reduced the mortality rate and improved the life expectancy. The requirements of the wearable robot for complete paraplegics are actuation torque, locomotion speed, wearing sensation, robust gait stability, safety, and practicality (i.e., size, volume, weight, and energy efficiency). A WalkON Suit is the wearable robot that has satisfied the requirements of the wearable robot for complete paraplegics and participated in the powered exoskeleton race of Cybathlon 2016. In this paper, configuration of the WalkON Suit, human-machine interface, gait pattern, control algorithm, and evaluation results are introduced.

• 대한기계학회논문집
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• 제19권2호
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• pp.568-579
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• 1995

An off-line programming (OLP) system was proposed and developed in order to save cost and time in adjusting a robot to new workcells or applying new algorithms to actual trajectory planning. The developed OLP system was especially designed to be operated in a PC level host computer. A SCARA robot with four axes was selected as an objective robot. The OLP system developed in this study consisted of such modules as data base, three-dimensional graphics, kinematics, trajectory planning, dynamics, control, and commands. Each module was constructed to form an independent unit so that it can be easily modified or improved. The OLP system was programmed for a graphic user interface in Borland $C^{++}$ language. Some of system operating commands and an interpreter were devised and used for more convenient programming of robot simulations.s.

• 한국멀티미디어학회논문지
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• 제20권2호
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• pp.298-312
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• 2017

The fourth industrial revolution is expected to show technological innovation that develops among different fields beyond boundaries through the convergence and integration of fields. With the development and convergence of digital technology, users can receive information anywhere in the world. In this paper, we propose an adaptive interaction concept in a various environment by using a mobile robot based on projection augmented reality (AR). Most previous studies have aimed fixed projector or projection for a pre-designed environment. Thus, they provide only limited information. To overcome the abovementioned problem, we provide the adaptive information by implementing a projection AR system that can be mounted on the mobile robot. For that, the mobile robot based on the projection system was defined as Pervasive AR. Pervasive AR is configured with a pervasive display, a pervasive interface, and seamless interaction. The Pervasive AR technology enables the user to access information immediately by expanding the display area into real space, which implies an environment of intuitive and convenient interaction by expanding the user interface. This system can be applied to various areas, such as a home environment and a public space.