• 제어로봇시스템학회논문지
• /
• 제13권2호
• /
• pp.140-146
• /
• 2007

This paper demonstrates the development of a mobile robot for patrol. We fuse differential GPS, angle sensor and odometry data using the framework of extended Kalman filter to localize a mobile robot in outdoor environments. An important feature of road environment is the existence of curbs. So, we also propose an algorithm to find out the position of curbs from laser range finder data using Hough transform. The mobile robot builds the map of the curbs of roads and the map is used fur tracking and localization. The patrol robot system consists of a mobile robot and a control station. The mobile robot sends the image data from a camera to the control station. The remote control station receives and displays the image data. Also, the patrol robot system can be used in two modes, teleoperated or autonomous. In teleoperated mode, the teleoperator commands the mobile robot based on the image data. On the other hand, in autonomous mode, the mobile robot has to autonomously track the predefined waypoints. So, we have designed a path tracking controller to track the path. We have been able to confirm that the proposed algorithms show proper performances in outdoor environment through experiments in the road.

• Journal of Mechanical Science and Technology
• /
• 제15권2호
• /
• pp.217-224
• /
• 2001

In this paper, the relocation of a mobile robot is considered such that it enables the robot to determine its position with respect to a global reference frame without any $\alpha$ priori position information. The robot acquires sonar range data from a two-dimensional model composed of planes, corners, edges, and cylinders. Considering individual range as data features, the robot searches the best position where the data features of a position matches the environmental model using a constraint-based search method. To increase the search efficiency, a hypothesize and-verify technique is employed in which the position of the robot is calculated from all possible combinations of two range returns that satisfy the sonar sensing model. Accurate relocation is demonstrated with the results from sets of experiments using sparse sonar data in the presence of unmodeled objects.

• 정보학연구
• /
• 제4권1호
• /
• pp.9-22
• /
• 2001

본 논문에서는 웹브라우저를 이용하여 로봇을 원격 제어한다. 4대의 독립된 PC를 사용하여 자각의 기능을 분리하고 상호 연동하는 구조로 PC를 연결하였다. 조작자가 시간과 장소에 제약받지 않고 웹브라우저를 이용하여 제어값을 입력하면 제어값은 웹 서버를 거쳐 데이터베이스에 저장된다. 로봇과 연결된 PC는 데이터베이스에서 1ms 간격으로 제어값을 입력받아 제어값의 변화가 있을 경우만 제어값의 변화량으로 로봇이 동작한다. 스텝모터를 이용하여 간단한 로봇을 제작하고 이를 웹 브라우저를 이용하여 실제 동작시킨다. 조작자가 원하는 제어값이 최종 수신단의 로봇에 제대로 전달되어 동작하는지 확인하고 웹브라우저를 이용한 로봇제어의 가능성을 확인하였다

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.1575-1579
• /
• 2003

This paper present the control of an intelligent home robot based on home network. The existing research is almost research of independent robot. home network will be a way that equipments in home exchange information. As robot combine home network, robot will be more intelligent and more powerful. We benefit for that load is divided in home network environment. The robot which has ultrasonic sensors performs obstacle avoidance with the Fuzzy Algorithm. Ethernet serial converter transmit the measuring data of home to a home server and the home server accumulates data. The home server controls the robot and manages home according to the acquired data. This paper supposed the home network system that consist of home server, embedded robot and intelligent home robot.

• 한국해양공학회:학술대회논문집
• /
• 한국해양공학회 2004년도 학술대회지
• /
• pp.79-84
• /
• 2004

In this study, a robot welding programming system is developed for gantry-type robot using a neutral CAD data format. The system automatically extracts welding line data from tile CAD model represented in IGES format and generates a robot program based on the weld line extracted. The welding program is simulated jar verification by using IGRlP, a virtual manufacturing solution. The robot welding programming system is demonstrated with a simple example.

• 산업기술연구
• /
• 제21권A호
• /
• pp.97-103
• /
• 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.

• 한국정밀공학회지
• /
• 제16권3호통권96호
• /
• pp.9-17
• /
• 1999

This paper presents a method of grinding and polishing automation of precision die after CNC machining. The method employs a robot system equipped with a pneumatic spindle and a special abrasive film pad. The robot program is automatically generated off-line program form a PC and downloaded to robot controller. Position and orientation data for the program is supplied form cutter contact (CC) data of NC machining process. This eliminates separate robot teaching process. This paper aims at practical automation of die finishing process which is very time consuming and suffering from shortage of workpeople. Time loss due to changeover from one product to another is eliminated by PC off-line programming exploiting appropriate NC machining data. Dextrous 6-axis robot with rigid wrist and simple tooling enables the process applicable to larger, rather complex 3 dimensional free surfaces.

• 한국공작기계학회:학술대회논문집
• /
• 한국공작기계학회 2002년도 춘계학술대회 논문집
• /
• pp.480-485
• /
• 2002

The purpose of this paper is the development of guidance algorithm for a mobile robot which is used to acquire the position and state information of the pipe defects such as crack, damage and through hole. The data used for the algorithm is the range data obtained by the range sensor which is based on an optical triangulation method. The sensor, which consists of a laser slit beam and a CCD camera, measures the 3D profile of the pipe's inner surface. After setting the range sensor on the robot, the robot is put into a pipe. While the camera and the LSB sensor part is rotated about the robot axis, a laser slit beam (LSB) is projected onto the inner surface of the pipe and a CCD camera captures the image. From the images the range data is obtained with respect to the sensor coordinate through a series of image processing and applying the sensor matrix. After the data is transformed into the robot coordinate, the position and orientation of the robot should be obtained in order to guide the robot. In addition, analyzing the data, 3D shape of the pipe is constructed and the numerical data for the defects of the pipe can be found. These data will be used for pipe maintenance and service.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2005년도 춘계학술대회 논문집
• /
• pp.1001-1006
• /
• 2005

A Robot Performance Evaluation System(RPES) with the laser tracker Leica LTD 500 was developed according to the ISO 9283 robot performance criteria. The developed system is set up a test robot to continuously move the prescribed cyclic trajectories without a human intervention and the laser tracker to simultaneously measure the robot's movement. And then, the system automatically extracts the required data from the tremendous measured data, and computes the various performance criteria which represents the present state of the test robot's performance. This paper explains how ISO 9283 robot performance criteria was used for the developed system, and suggests a automatic data extraction algorithm from the mass of measured data. And also, a user-friendly Robot Performance Evaluation System(RPES) Software was developed with Visual Basic satisfying the need of Hyundai Motor Company. The developed system was implemented on NACHI 8608 AM 11 robot. The resulted output shows the effectiveness of the developed system.

• 제어로봇시스템학회논문지
• /
• 제17권11호
• /
• pp.1074-1081
• /
• 2011

As robotics systems are becoming more complex there is the need to promote component based robot development, where systems can be constructed as the composition and integration of reusable building block. One of the most important challenges facing component based robot development is safeguarding against software component failures and malfunctions. The health monitoring of the robot software is most fundamental factors not only to manage system at runtime but also to analysis information of software component in design phase of the robot application. And also as a lot of monitoring events are occurred during the execution of the robot software components, a simple data treatment and efficient memory management method is required. In this paper, we propose an efficient events monitoring and data management method by modeling robot software component and monitoring factors based on robot software framework. The monitoring factors, such as component execution runtime exception, Input/Output data, execution time, checkpoint-rollback are deduced and the detail monitoring events are defined. Furthermore, we define event record and monitor record pool suitable for robot software components and propose a efficient data management method. To verify the effectiveness and usefulness of the proposed approach, a monitoring module and user interface has been implemented using OPRoS robot software framework. The proposed monitoring module can be used as monitoring tool to analysis the software components in robot design phase and plugged into self-healing system to monitor the system health status at runtime in robot systems.