• Journal of Industrial Technology
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• v.21 no.A
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• pp.97-103
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• 2001

This paper presents the development of the I/O Interface for the real time parallel data communication between controller of a six-axis industrial robot(CRS-A460) and an external computer. The proposed I/O Interface consists of the hardware I/O interface and the software that is downloaded to the robot controller and executed by the controller operating system. The constitution of the digital I/O Port for CRS-A460 robot controller and the digital I/O board for IBM-PC are presented as well as the Process Control Program of the robot controller. The developed protocol for the parallel data communication is described. The data communication is tested, and the performance is analysed. In particular, it is shown that the real-time constraint of the robot controller process is satisfied.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.105-110
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• 1998

This paper proposes a graphical user interface for industrial robot systems. Previous user interfaces for industrial robot systems were based on the text. In order to enable operators to handle robots more efficiently, a set of graphical tools is provided. The graphical tools contain a control panel for operating robots and compiling robot programs, a graphical teaching panel for handling virtual robots and a graphical monitoring panel for checking robot status. Furthermore, the proposed GUI can be used to operate remote robots because it has network utilities. This system consists of the virtual mode and the real mode. The user can handle a 3D virtual solid model of the robot in the virtual mode and an actual robot in the real mode.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.5
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• pp.923-930
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• 2016

Various pipes are used in the many industrial field such as water supply, drainage system and marine plants, so a maintenance of these pipes is essential. Especially, the maintenance of the piping in the industrial field, some professional staffs enter and clean the pipe. If the professional staffs can not enter and clean the pipe, the workers has to use the method of inserting a scraper connected to wire inside the pipe. However, this method demands huge budget and causes a number of problems such as traffic congestion. To solve these problems, pipe cleaning robot has been researching and developing. Many Pipe cleaning robots have a problem, that is impossible to confirm the operating condition of the robot in a real time. This paper suggest pipe cleaning robot with RS-485 which transmit operating and cleaning condition of robot and inner pipe filmed by camera, that user can check.

• IEMEK Journal of Embedded Systems and Applications
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• v.17 no.2
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• pp.115-121
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• 2022

This paper proposes a distributed model predictive formation control algorithm for a group of unmanned ground vehicles (UGVs) with guaranteeing collision avoidance between UGVs. Generally, the model predictive control based formation control has a disadvantage in that it takes a long time to compute control inputs when considering collision avoidance between UGVs. In this paper, in order to overcome this problem, the formation control algorithm is implemented in a distributed manner so that it could be individually controlled. Also, a collision-avoidance method considering real-time is proposed. The proposed formation control algorithm is implemented based on robot operating system (ROS), open source-based middleware. Through the various simulation tests, it is confirmed that the formation control of five UGVs is successfully performed while avoiding collisions between UGVs.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.4
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• pp.119-125
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• 2008

A new type of swivel unit is suggested in order to complement weak points of the existing. This new type of Swivel unit is developed by adopting a spring type cable which has elasticity and restoring force. To minimize the troubles in the process of manufacturing during operating the new type system, strength analysis and the check of interference between parts are accomplished with CATIA. The check of rotating performance is also carried out to determine the diameter and length of spring type cable by SimDesigner motion analysis. Swivel unit used in the robot spot welding is developed with spring type cable and its usefulness in the industrial field is verified through experiments. This system has been registered for patent.

• Journal of the Korea Society of Computer and Information
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• v.22 no.12
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• pp.17-25
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• 2017

In this paper, we have implemented a low-cost mobile robot supporting the person tracking by detection using RGB-D cameras and ROS(Robot Operating System) framework. The mobile robot was developed based on the Kobuki mobile base equipped with 2's Kinect devices and a high performance controller. One kinect device was used to detect and track the single person among people in the constrained working area by combining point cloud data filtering & clustering, HOG classifier and Kalman Filter-based estimation successively, and the other to perform the SLAM-based navigation supported in ROS framework. In performance evaluation, the person tracking by detection was proved to be robustly executed in real-time, and the navigation function showed the accuracy with the mean distance error being lower than 50mm. The mobile robot implemented has a significance in using the open-source based, general-purpose and low-cost approach.

• International Journal of Control, Automation, and Systems
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• v.6 no.2
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• pp.282-287
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• 2008

In distributed mobile robot systems, autonomous robots accomplish complicated tasks through intelligent cooperation with each other. This paper presents behavior learning and online distributed evolution for cooperative behavior of a group of autonomous robots. Learning and evolution capabilities are essential for a group of autonomous robots to adapt to unstructured environments. Behavior learning finds an optimal state-action mapping of a robot for a given operating condition. In behavior learning, a Q-learning algorithm is modified to handle delayed rewards in the distributed robot systems. A group of robots implements cooperative behaviors through communication with other robots. Individual robots improve the state-action mapping through online evolution with the crossover operator based on the Q-values and their update frequencies. A cooperative material search problem demonstrated the effectiveness of the proposed behavior learning and online distributed evolution method for implementing cooperative behavior of a group of autonomous mobile robots.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.625-631
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• 2002

In the previous study, a polishing robot system was developed to automate the polishing process and to cope with the shortage of skilled workers. This polishing robot system has several advantages: reduced time for setting polishing work, decreased labor costs, effective operation, continuous polishing work without an operator, improved machine accuracy, and the ability to polish a free curved surface die. However, still the problem remains that a worker must stay to monitor the polishing process in the poor working conditions for a long time. Nowadays some advanced manufacturing companies need to find a way to check the performance of their production equipments and plants from remote sites. Thus, this study constructed the communication network and developed the monitoring programs (a servo program and a client program) to operate the polishing robot from remote sites. Using these programs, workers are able to monitor and control the polishing robot on the web page, in any place where internet service is possible. To guarantee a stable operation in spite of a variable computer operating environment, the monitoring system is implemented in Java. The experimental results showed that the developed monitoring programs provided a stable communication.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.567-569
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• 2006

This study proposes the method to make a map of moving environment area and passed area by sensor using for recognizing environment or avoiding obstacle. We win develop an efficient algorithm to use sensors and get the data by the user friendly system. Through this system, we win study the way to know of the driving environment of moving robot on the long distance point. To this, we use only one ultra-sonic sensor with a servo motor which rotates 180 degree and loads an ultra-sonic sensor. A sensor can measure 1m${\sim}$8m range and a servo motor can distinguish 15 degree by 12 divide of 180 degree. By this feature of operating system, the robot which has these sensor module detects around of area and moves another point. In this way, users gather the data of detecting distance and change the data to X-Y coordinates. And users derive a map from these accumulate data.

• Journal of Biosystems Engineering
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• v.30 no.3 s.110
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• pp.179-184
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• 2005

The purpose of this study was the development of teat-cup attachment module for robot milking system. The teat-cups attachment module was controlled on the two dimensional space independently, Each teat cup of an end effector was independently controlled via two axis control based on the position information data obtained from the image processing system. This system was developed install of all 4 teat cups at the same time after adjusting positions of each teat sequentially. The individual motion system was operated using two servo motors for the high speed of teat position adjustment. The errors fur the individual motion system of teat cups were maximum 1.0mm, minimum 0.0mm, and average 0.6mm. The operating time for adjusting the teat cups position required about 1.0 second. It is envisaged that teat cups attachment module can be applicate to milking robot being developed in consideration of the experiment results for the teat cups operation accuracy and the actuation speed of servo motors.