• 반도체디스플레이기술학회지
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• 제17권3호
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• pp.104-107
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• 2018

In this paper, we developed a sensor for monitoring the leakage current through the chassis of the robot. The leakage current sensor needs to be developed because it is a necessary part to prevent electric shock accidents that may occur through the chassis of a robot or an electric vehicle. This leakage monitoring sensor was developed to be mounted directly on the chassis of the robot. This sensor protects the control system from noise by discharging static and high-frequency noise that may occur in the chassis of the robot and monitors the leakage current by measuring the amount of current discharged through the ground. In this paper, a leakage monitoring sensor was developed with a simple structure using resistors, capacitors and OP-AMP, and the performance was evaluated.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 춘계학술대회 논문집
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• pp.504-509
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• 1995

In this paper, we developed a position correction system of industrial robot for door-chassis assembly task. With the aid of a dedicated vision system, industrial robot accomplished visually acceptable door-chassis's assembly task. The alogorithm of the position detection of notch and 2 dimesional position correction algorithm are noteworthy. The obtained algorithms were satisfatorily implemented for a real door-chassis model.

• 한국정밀공학회지
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• 제23권3호
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• pp.132-138
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• 2006

With a great requirement of innovation caused by severe competition current companies are encouraged to improve bottleneck areas in production procedure. Specially a chassis line in which assembly processes are mainly carried out manually has the large potential to be automated. The putting of spare tire in trunk in chassis line is still dominated by free dropping method. Through that, parts in trunk such as luggage room lamp, jack and so on were damaged and the complaint of assembler in the next process was occurred due to physical strength. To eliminate these, tile robot system was in this paper developed to place spare tire on the mounting hole in trunk. The movement of robot was synchronized with the velocity of chassis hanger. With this automated system the productivity of the chassis line was increased from the benefits such as simplification of the system using only robot without the mechanically synchronized transport, inserting spare tire into the right position with robot, reduction of damaged parts and production of various type of car.

• 한국정밀공학회지
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• 제13권3호
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• pp.42-48
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• 1996

In this paper, a position correction system of industrial robot for door-chassis assembly tast is developed in connection with the position correction algorithm shown in Part I. Tow notches and a hole of auto chassis are selected as the reference measure points and a vision based error detection algorithm is devised to measure in accuracy of less than 0.07mm. And also, the transformation between base and tool coordinates of the robot is shown to send the suitable correction quantities caaording to robot's option. The obtained algorithms were satisfactorily implemented for a real door-chassis model such that the system could accomplish visually acceptable door-chassis assembly task.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1994년도 추계학술대회 논문집
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• pp.565-570
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• 1994

This work deals with finding a suitable position correction algorithm of industrial robot based on measuring gaps between door and chassis. The algorithm calculates correction quantities and then must allow visually acceptable door-chassis assembly take. The algorithm simulation is performed for a simple door-chassis model, and its effectiveness is addressed in terms of the predefined total unformity, line uniformity. In addition, the error sensitivity analysis of the rotation center of door due to the mismatch of robot grasping is performed using the algorithm.

• 한국정밀공학회지
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• 제13권3호
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• pp.34-41
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• 1996

This work deals with finding a suitable position correction algorithm of industrial robot based on measuring particular points, which calculates two dimensional correction quantities and the must allow visually acceptable door-chassis assembly task. Three optimizing algorithms corresponding to three differ- ent error based performance indices are compared and selected to the best one, in terms of the predefined total uniformity, line uniformity and computational time. The selected algorithm(Total Error Minimization) is implemented for a simple door-chassis model to show its effectiveness.

• 한국멀티미디어학회논문지
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• 제17권7호
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• pp.787-796
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• 2014

Many mobile robot navigation methods utilize laser scanners, ultrasonic sensors, vision camera, and so on for detecting obstacles and path following. However, human utilizes only vision(e.g. eye) information for navigation. In this paper, we study a mobile robot control method based on only the camera vision. The Gaussian Mixture Model and a shadow removal technology are used to divide the foreground and the background from the camera image. The mobile robot uses a combined CAMSHIFT and KLT feature tracker algorithms based on the information of the foreground to follow a person. The algorithm is verified by experiments where a person is tracked and followed by a robot in a hallway.

• 한국정밀공학회지
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• 제30권2호
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• pp.171-176
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• 2013

In this research a Self-Standable mobile Robot with standing arms based on an Wheeled Inverted Pendulum is developed. Almost existing mobile robots have wide planar shape that is statistically stable and it is sometimes hard for them to run or steer on a narrow road. A Wheeled Inverted Pendulum based mobile robot has vertical shape that is upright-running and easily steering on a narrow road. It, however, requires actively balancing control and never restores the shape once it falls down. This research develops a Self-Standable mobile robot which equips standing arms and is able to change its chassis' posture freely from planar to vertical shape or vice versa.

• 한국해양공학회지
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• 제27권2호
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• pp.80-86
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• 2013

KIOST developed a deep-sea mining robot called "MineRo" to collect manganese nodules in 2007. MineRo operates on flat ground. SMS (seafloor massive sulfide) deposits are shaped like undulating mountains. This paper deals with a numerical analysis model of a mining robot for SMS deposits. The mining robot consists of a tracked vehicle, chassis structure with a turntable, boom arm with 2 articulations, excavation tool, discharging unit, hydro-electric system, and sensing-and-monitoring system. In order to compare and analyze the dynamic responses of the driving mechanism, various tracked vehicles are modeled using commercial software. Straight driving simulations are conducted under undulating ground conditions. A conceptual design of a mining robot with four track systems for SMS deposits is modeled on the basis of these results.

• 한국안전학회지
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• 제31권5호
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• pp.28-34
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• 2016

When a electric power cable is installed in the air for newly or exchanged working, it is necessary at all time to hold a constant tension for an overhead power cable. And also a pendanted power cable is an extreme job to have work in a high sky. For this reason, the objective of this paper developments working robot for preventing disaster that tension of cable installed automatically power cable to hold a constant. So the working robot works at all the time two tasks for mobil and tension it come into a inference between two tasks, control is difficult. Control methode needs to suppress inference of two tasks. In this paper, for installation of overhead power cable, the scheme and control methode of working robot is presented. the robot work at a same time tow tasks that have hold a constant tension of the power cable and move a constant place while unfasten a winding cable at a drum on a chassis. Working robot consist of three parts with mobile system, tension system and control part. As it is applied the feedback/feedforward control, methode of hybrid control is established to suppress that interference come into between two tasks. The simulation programs is made out using models of mobil and tension system, and a proposed controllers. In accordance with simulation, the model of each systems is discussed to make out proper. And also parameters of controllers is selected a suitable value and the driving performance of robot is evaluated.