• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1731-1734
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• 2003

We propose a unmaned integrating control system based-on Windows XP version Off-Line Programming System which can simulate a Robot model in 3D Graphics space in this paper. The robot with 4 and 6 axes modeled SM5 and AM1 respectively were adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed off-line program. The interface between users and the off-line programming system in the Windows XP's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by silicon Graphics, Inc. were utilized for 3D Graphics.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2003.04a
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• pp.319-326
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• 2003

We propose a unmaned integrating control system based-on Windows XP version Off-Line Programming System which can simulate a Robot model in 3D Graphics space in this paper. The industrial robot with 4 and 6 axes modeled SM5 and AMI respectively were adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed off-line program. The interface between users and the off-line programming system in the Windows XP's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by silicon Graphics, Inc. were utilized for 3D Graphics.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.12
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• pp.80-88
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• 2003

We propose a new technique to design an unmaned integrating control system based-on Windows XP version off-Line Programming System which can simulate a dynamic model of robot manipulator in three dimensions graphics space in this paper. The robot with 4 and 6 axes modeled SM5 and AM1 respectively were adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed off-line program. The interface between users and the off$.$line programming system in the Windows XP's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by silicon Graphics, Inc. were utilized for three dimensions graphics.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.6
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• pp.283-294
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• 2001

In this paper, a masterarm for teleoperation of humanoid robot is presented. This masterarm is based human kinematics, which not only mimics human posture/motion completely, but also has wider work range. In addition, by using the distributed controller architecture and electric brake for force reflection, small size and lightweight of the device can be achieved. Some size and lightweight of the device can be achieved. Some important experiments integrated with the humanoid robot, CENTAUR developed by KIST(Korea Institute of Science and Technology), are conducted to evaluate the performance of the proposed masterarm.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.5
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• pp.561-573
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• 2019

This study proposes a new approach to implement smart factory based on robot monitoring system for a small and medium sized enterprise. The simulator includes the forward kinematics and inverse kinematics analyzes of articulated robots. We also modeled the dynamics of the robot and made it possible to simulate it in the program. We studied the interface between the user and the monitoring programming system using the GUI environment of Windows OS, and it is configured to select the appropriate trajectory planning and control method. The reliability of simulator is illustrated by simulation test.

• Journal of the Korean Society of Industry Convergence
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• v.24 no.6_2
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• pp.947-952
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• 2021

In this paper, the simplified kinematic error model for Delta parallel robot is presented, which can enable the analytical forward kinematics essentially for kinematic calibration calculations instead of the numerical one. The simplified kinematic error model is proposed and the forward kinematics including the error parameters is analytically derived. The kinematic calibration algorithm of the Delta parallel robot with 90 degree arrangement using laser tracker and the experiment result are presented.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.5
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• pp.134-142
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• 1997

In this study, we proposed the wire parallel mechanism that can be used to measure a full pose of a robot. It is composed of six parallel links using wire. The position and orientation of the end effectorf of a robot are calculated using the length of wires which is measured by the encoder. The complex non- linear equations of the forward kinematics are solved by using a numerical method, and the unique solution is obtained from the geometric configuration of the device. The length error of the wire which occurs in static condition is compensated by the relational equation that considered longitudinal extension and defoection of the wire. Through this work, we known that the proposed device has a good accuracy( .+-. 0.01mm) in a large measuring region, so it can be used effectively in a callibration of a robot which required a low cost.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.9 no.3
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• pp.206-212
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• 2009

This paper presents an optimized integrated task planning and control approach for manipulating a nonholonomic robot by mobile manipulators. Then, we derive a kinematics model and a mobility of the mobile manipulator(M2) platform considering it as the combined system of the manipulator and the mobile robot. to improve task execution efficiency utilizing the redundancy, optimal trajectory of the mobile manipulator(M2) platform are maintained while it is moving to a new task point. A cost function for optimality can be defined as a combination of the square errors of the desired and actual configurations of the mobile robot and of the task robot. In the combination of the two square errors, a newly defined mobility of a mobile robot is utilized as a weighting index. With the aid of the gradient method, the cost function is minimized, so the path trajectory that the M2 platform generates is optimized. The simulation results of the 2 ink planar nonholonomic M2 platform are given to show the effectiveness of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.23-28
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• 1987

A Computer Aided Design (CAD) program of robot application engineering has been developed for the efficient examination of HR8000 robot. For the Simulation of robot motion. direct and inverse kinematics of robot manipulator was analyzed and robot motion was visualized. The program could contribute to upgrade accuracy and to minimize the time for the robot application engineering.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.06a
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• pp.5-6
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• 2008