• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.545-550
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• 1991

Recently, the use of robots for painting operations has received much attention, as it is a powerful means for automation and quality improvement. Collision-avoidance is a key issue in the path planning for painting operations. In this paper, we develop a computationally efficient algorithm for the generation of collision-free path for two types of motion: a) Gross motion when the robot approaches the painting area, and b) Fine motion while spraying the surface. The former is a typical collision-avoidance problem, but the latter calls for special attention as the painting mechanics has to be incorporated into path planning. The developed algorithm is applied for the internal coating of the car body whose structure is the major source of collision.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.22-26
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• 1999

In general, three are many degrees of freedom (DOF) in industrial robots. That can generate several special end-effector's positions and orientations. For that reason, industrial robots are used in a wide scope of industrial applications such as welding, spray painting, deburring, and so on. In this research, new method is presented which safely maintain the desired constant end-effector's orientation and minimize the numbers of segments in path. These algorithms may apply to welding, painting, and assembling. The simulation study of straight line and circular motions in arc-welding operations is carried out to show the sure proof of these algorithms.

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.4
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• pp.679-686
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• 2022

In this paper, we implemented an algae removal device that recognizes and removes algae existing in water using Raspberry Pi camera and DO (Dissolved Oxygen) sensor. The Raspberry Pi board recognizes the color of green algae by converting the RGB values obtained from the camera into HSV. Through this, the location of the algae is identified and when the amount of dissolved oxygen's decrease at the location is more than the reference value using the DO sensor, the algae removal device is driven to spray the algae removal solution. Raspberry Pi's camera uses OpenCV, and the motor movement is controlled according to the output value of the DO sensor and the result of the camera's green algae recognition. Algae recognition and spraying of algae removal solution were implemented through Arduino and Raspberry Pi, and the feasibility of the proposed portable algae removal device was verified through experiments.