• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.43-48
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• 2005

A robot system encompassing a remote control and monitoring through a virtual robot design is addressed and a tracking problem for a 2D (2 dimension) moving target by a robot vision is chosen as a case study. The virtual robot is developed, and it synchronizes with the real robot by compensating delay time. Two systems are displayed on a remote panel by communicating command and image data. The virtual robot utilizes an OpenGL library in Visual $C^{++}$ environment. Additionally, the remote monitoring and control between the real robot and the virtual robot are accomplished by employing an appropriate data compression in a network communication.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.779-782
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• 1991

The design of a control language of mobile robot system for autonomous operations is explained in this paper. The on-board controller consists of one-chip microcontrollerbased system and communicates with the host computer. It decodes the received commands and controls the mobile robot. The control language is basically of interpreter type and is consisted of motion primitives and sensing primitives. The combinations of primitives are constructed for mobile robot operations.

• The Journal of Korea Robotics Society
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• v.13 no.4
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• pp.248-255
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• 2018

In this paper, a design for a vehicle body of an armored robot for complex disasters is described. The proposed design considers various requirements in complex disaster situations. Fire, explosion, and poisonous gas may occur simultaneously under those sites. Therefore, the armored robot needs a vehicle body that can protect people from falling objects, high temperature, and poisonous gas. In addition, it should provide intuitive control devices and realistic surrounding views to help the operator respond to emergent situations. To fulfill these requirements of the vehicle body, firstly, the frame was designed to withstand the impact of falling objects. Secondly, the positive pressure device and the cooling device were applied. Thirdly, a panoramic view was implemented that enables real-time observation of surroundings through a number of image sensors. Finally, the cockpit in the vehicle body was designed focused on the manipulability of the armored robot in disaster sites.

• Korean Journal of Computational Design and Engineering
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• v.20 no.3
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• pp.291-297
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• 2015

A water jet cleaning robot system for micro drill bits is to refurbish micro drill bits used for the PCB manufacturing process. It can refurbish drill bits with the minimum diameter of ${\phi}0.15{\sim}0.075mm$ of which the total quantity have been discarded before. Micro drill bits with the minimum diameter of ${\phi}0.075mm$ can be cleaned by applying the water jet cleaning robot system out of the manual ultrasonic cleaning in the past for the cleaning equipment as the initial process in refurbishing. This study analyzed problems, while applying the apparatus mechanism for the workability such as the robot traces of Transfer Robot I and II, drill bit loading and unloading, and cleaning tasks in the water jet cleaning robot system in an effort to carry out simulations. In addition, the cleaning work process was optimized as the work process was verified in advance and the production quantity was analyzed through simulations.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.393-400
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• 2015

This paper describes the development of a chest-wearable robot that can efficiently perform self walking rehabilitation without a helper. The features of the developed robot are divided into three parts. First, as a mechanical characteristic, the conventional elbow crutch is attached at the forearm. However, the proposed robot is attached to the patient's chest, enabling them to feel free to use their hands and eliminate the burden of the arms. Second, as a characteristic of the driving algorithm, pressure sensors attached to the chest automatically perceive the patient's walking intention and move the robot-leg thereafter. Also, for safety, it stops operating when an obstacle is found in front of the patient by using ultrasonic sensors and generates a beeping sound. Finally, by using the scotch yoke mechanism, supporting legs are moved up and down using a rotary servo motor without excessive torque that is generated by large ground reaction forces. We showed that the developed robot can effectively perform self walking rehabilitation through walking experiments, and its performance was verified using Electromyograph (EMG) sensors.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.8
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• pp.1023-1028
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• 2010

Recently, an intelligent service robot is being developed for use in guiding and providing information to visitors about the building at public institutions. The intelligent robot has a sensor at the bottom to recognize its location. Four wheels, which are arranged in the form of a lozenge, support the robot. This robot cannot be operated on uneven ground because its driving parts are attached to its main body that contains the important internal components. Continuous impact with the ground can change the precise positions of the components and weaken the connection between each structural part. In this paper, the design of the suspension system for such a robot is described. The dynamic model of the robot is created, and the driving characteristics of the robot with the designed suspension system are simulated. Additionally, the suspension system is optimized to reduce the impact for the robot components.

• Journal of the Korea Society for Simulation
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• v.14 no.1
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• pp.43-53
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• 2005

We developed the module of the software that robot designers can perform their work faster and more easily. The parametric modeler is founded on the virtual robot design program. The virtual robot design program is the powerful software which may be used to solve various problems of robot kinematics and dynamics. The parametric modeler in the software we developed is that all the positions of joints and links are changed automatically when the designer changes one joint or one link in the robot system. Without parametric method, robot-designers must change all the positions of connected joints and links. It might become time-consuming. However, it is very efficient for designers to use the method of batch-processing in performing design-changes of robot-links using the parametric modeler.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.501-506
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• 1988

This paper describes an experimental system for automatic robot programming, The SNU-ARPS (Seoul National University Automatic Robot Programming System). The SNU-ARPS generates executable robot programs for pick and place operation and some simple mechanical assembly tasks by menudriven dialog. It is intended to enable the user to concentrate on the overall operation sequence instead of the knowledge regarding the details of robot languages. To convert task specifications into manipulator motions, the SNU-ARPS uses an internal representation of the world. This representation initially consists of geometric database from CAD system and is updated at each operation step to reflect the state changes of the world.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.222-225
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• 1989

A method is proposed to design a mobile tele-existence system, which can be remotely driven with the auditory and visual sensation of presence. The system consists of mobile robot with camera and two microphones. The effectiveness of the proposed system was evaluated by navigation experiments of the tele-robot through an obstructed space.

• Journal of the Korean Institute of Telematics and Electronics
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• v.26 no.11
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• pp.1759-1769
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• 1989

This paper presents the development of a simulator for an industrial robot. The simulator is characterized by a fully integrated dynamic model and a hardware oriented control scheme. The dynamic model includes the actuator dynamics as well as the manipulator dynamics to integrate the entire dynamics of the robot system. On the other hand, the control scheme is oriented as a hardware structure which is usually implemented in the industrial robot. That is to say, a conventional PI control law is used to regulate the position, the speed, and the current. A Pulse Wave Modulation (PWM)generator modulates the supplied voltage to the actuator. Since the simulator is consistent with the industrial robot system, it provides the essential design concepts for the development process of the robot. In practice, the simulator is applied to the SCARA robot which has been developed in GSIS. Here, it investigates the characteristics and performance of the robot with changing design parameters. Thus, the investigation furnishes criteria for the selection of acfuator, control gain, trajectory planning, etc.