• 한국생산제조학회지
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• 제26권1호
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• pp.121-129
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• 2017

In this study, we investigated a cooperative control system of assembly robots using wireless LAN. We developed two different types of robots to assemble three blocks on a workbench. Robot1 can assemble blocks on a workbench and Robot2 can carry blocks to Robot1. We constructed an ROS-based communication system and shared data. Three blocks and one workbench were recognized by camera-image processing By developing the UI using Windows programming language Visual C#, we evaluated the status of the robots and blocks and controlled the robots. The control system was developed by constructing all elements necessary for cooperative control, such as robot design and fabrication, motor control, ROS-based communication, and image processing. Thus, we completed fundamental tasks required for assembly.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제15권4호
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• pp.232-239
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• 2015

Studies on the control of the inverted pendulum type system have been widely reported. This is because it is a typical complex nonlinear system and may be a good model for verifying the performance of a proposed control system. In this paper, we propose the design of some fuzzy logic control (FLC) systems for controlling a Segway-type mobile robot, which is an inverted pendulum type system. We first derive a dynamic model of the Segway-type mobile robot and then analyze it in detail. Next, we propose the design of some FLC systems that have good performance for the control of any nonlinear system. Then, we design two conventional FLC systems for the position and balance control of the Segway-type mobile robot, and we demonstrate their usefulness through simulations. Next, we point out the possibility of simplifying the design process and reducing the computational complexity,, which results from the skew symmetric property of the fuzzy control rule tables. Finally, we design two other FLC systems for position and balance control of the Segway-type mobile robot. These systems have only one input variable in the FLC systems. Furthermore, we observe that they offer similar control performance to that of the conventional two-input FLC systems.

• 한국산학기술학회논문지
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• 제14권6호
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• pp.3023-3031
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• 2013

본 논문에서는 물류회사에서 수작업으로 이루어지던 물류 배달 구분 작업을 자동화하기 위한 로봇 제어 정보 관리 시스템을 제안한다. 제안한 로봇제어 정보 관리시스템은 3D 영상인식장치로부터 소포의 가로, 세로, 높이, 집는 윗면의 형태 등 소포 형상정보와 무게, 놓여 진 위치, 부대 정보를 기록한 바코드 등의 소포 상황 정보를 넘겨받아서 로봇 매니퓰레이터의 픽업 제어정보와 드롭 제어정보를 생성하여 로봇제어정보를 보내준다. 로봇 매니퓰레이터는 물류 정보에 따른 픽업제어 정보와 드롭 제어정보를 넘겨받아 소포 픽업과 배달 위치에 따른 파레트에 해당물류를 드롭 할 수 있게 된다. 제안된 물류배달을 위한 로봇 제어 정보 관리 시스템은 수작업으로 처리되었던 물류배달 순서 구분 작업을 자동화함으로써 물류 배달에 있어 시간과 비용을 절감시키고 산업재해를 예방하는데 크게 기여하게 될 것이다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.3-8
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• 2002

An intelligent polishing robot automation system is developed. Automatic Tool Change System(A.T.C.), Tool Posture Angle Control, and Robot Program for Polishing Application are developed and integrated into a robotic system that consists of a robot, pneumatic finding tool, and finding abrasives (papers and special films). A.T.C. is specifically designed to exchange whole grinding tool set for complete unmanned operation. Tool Posture Angle Control is developed to give a certain skew angle rather than right angle to tools on the surface for best finishing results. A.T.C. and Tool Posture Angle Control is controlled by a PC and the robot controller. Also, there have been some considerations on enhancing the performance of the system. Some elastic material is inserted between the grinding pad and the holder for better grinding contact. The robot path data is generated automatically from the NC data of previous machining process.

• 대한임베디드공학회논문지
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• 제9권5호
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• pp.277-283
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• 2014

In this paper, we propose a control system for synchronizing attitude between an Android smartphone and a mobile robot. The control system is comprised of a smartphone and a mobile robot. The smartphone transports its attitude to the mobile robot and receives the attitude of mobile robot through bluetooth communication. Further, the smartphone displays the mobile robot on the screen by using embedded camera, which can be used as a pseudo augmented reality. Comparing the received attitude data from smartphone, the mobile robot measures its attitude by an AHRS(attitude heading reference system) and controls its attitude. Experiments show that the synchronization performance of the proposed system is maintained in the error range of $1^{\circ}$.

• 제어로봇시스템학회논문지
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• 제12권7호
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• pp.679-685
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• 2006

In this paper, development of an omni-directional mobile robot with rocker-bogie link structure is addressed. The overall mobile robot system consists of the robot mechanism with embedded control architecture, wireless communication with host graphic monitoring system, and the joy stick tole-controller. In the cluttered environment with various sizes of obstacles, the omni-directionality and the traversality are required for a mobile robot, so that the robot call go around or climb over the obstacles according to the size. The mobile robot mechanism developed in this paper has both of the omni-directionality and the traversality by 4 steerable driving wheels and the 2 additional passive omni-directional wheels linked with the rocker-bogie structure. The kinematic modeling for the mobile robot is described based on the well-known Sheth-Uicker convention and the instantaneous coordinate system.

• 한국해양공학회지
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• 제29권5호
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• pp.380-385
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• 2015

In the development of an underwater construction robot, the reliability of the operating system is the most important issue because of its huge maintenance cost, especially in a deep sea application. In this paper, we propose a new redundant architectural design for the hydraulic control system of an underwater construction robot. The proposed architecture consists of dual independent modular redundancy management systems linked with a commercial profibus network. A cold standby redundancy management system consisting of a preprocessing switch circuit is applied to the signal network, and a hot standby redundancy management system is adapted to utilize two main controllers.

• 드라이브 ㆍ 컨트롤
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• 제17권4호
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• pp.103-112
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• 2020

Field robots are used in various fields, such as agriculture, forestry, manufacturing, and construction; their use has recently expanded to include submarine areas. Field robots can aid in various tasks, such as soil transport, ground clearance, and dismantling of buildings. As field robots are used in a variety of different areas, the difficulty of the work is also quite varied. Increased difficulty is associated with an increased risk of accidents involving the field robot. In order to reduce the accident rate of field robot workers, the need for digitalization and automation of field robots is becoming more of an issue. To this end, it is necessary to study a system that enables workers to do their work without directly contacting a field robot. Therefore, in this paper, we introduce a control system for wireless remote control of a small field robot. The field robot can be wirelessly controlled by a worker in a remote location if the worker cannot be present at the work site. The implemented remote system is tested according to the type of work, and the operating characteristics of the remote system are assessed.

• 한국측량학회지
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• 제23권4호
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• pp.409-417
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• 2005

본 연구의 목적은 DGPS와 무선통신을 이용하여 저수지, 댐 등의 수심 및 수중지형 정보를 획득할 수 있는 원격 수심측정시스템을 개발하는데 있다. GPS와 에코사운더를 장착한 로봇선은 무선 인터넷을 이용하여 원격으로 제어된다. 로봇선체는 선체, 개별 모듈 및 제어보드로 구성되었으며, 제어국은 위치데이터 처리시스템과 원격제어시스템으로 구성되었다. 통신시스템은 로봇선과 제어국이 정보를 교환할 수 있도록 개발하였으며, RF 모뎀과 무선 인터넷의 2채널 시스템으로 구성되었다. 본 연구에서 개발된 원격측정 로봇선은 저수지, 댐, 하천 등의 수심 및 하상지형 정보를 경제적으로 정확하게 획득하는데 효과적으로 이용될 수 있을 것으로 기대된다.

• Journal of Electrical Engineering and Technology
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• 제12권4호
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• pp.1634-1640
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• 2017

The purpose of this study is based on the electromagnet robot with a four-wheel drive which can climb up and down on structures of iron wall instead of human workers. Many of studies strive to develop wall riding-robots in terms of absorption system. However, the system needs additional devices too much to work out as well as electromagnetic wheel system also has much expense to make it. In this regard, this study makes efforts to find the way how to keep steady distance between wheel and wall while using general electromagnet to reduce motor load and to move robot so easily.