• 디지털산업정보학회논문지
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• 제20권1호
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• pp.47-58
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• 2024

The serving robot is defined as a robot that carries cooked food to a customer table or collects and carries bowls after eating. This study presented a research model to find out the causal relationship between customer satisfaction and continuous use intention through the three factors of serving robot service quality. In addition, in order to empirically verify the above research model, a survey was conducted on customers using serving robots within the last 5 months. 300 copies were analyzed using SPSS 20 as the final analysis, excluding unfaithful responses. The main findings of this study are as follows. First, serving robot service quality (typical) found to have significant effect on customer satisfaction and continuous use intention. Second, it was found that serving robot service quality (reliability) had a significant effect on customer satisfaction and continuous use intention. Third, it was found that serving robot service quality (ease) did not significantly affect customer satisfaction and continuous use intention.

• 한국산업융합학회 논문집
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• 제22권5호
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• pp.561-573
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• 2019

This study proposes a new approach to implement smart factory based on robot monitoring system for a small and medium sized enterprise. The simulator includes the forward kinematics and inverse kinematics analyzes of articulated robots. We also modeled the dynamics of the robot and made it possible to simulate it in the program. We studied the interface between the user and the monitoring programming system using the GUI environment of Windows OS, and it is configured to select the appropriate trajectory planning and control method. The reliability of simulator is illustrated by simulation test.

• 로봇학회논문지
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• 제16권1호
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• pp.35-40
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• 2021

As the robot industry develops, industrial automation uses industrial robots in many parts of the manufacturing industry. However, rigidity-based conventional robots have a disadvantage in that they are challenging to use in environments where they grab fragile objects or interact with people because of their high rigidity. Therefore, researches on soft robot have been actively conducted. The soft robot can hold or manipulate fragile objects by using its compliance and has high safety even in an atypical environment with human interaction. However, these advantages are difficult to use in dynamic situations and control by the material's nonlinear behavior. However, for the soft robot to be used in the industry, control is essential. Therefore, in this paper, real-time PD control is applied, and the behavior of the soft actuator is analyzed by providing various waveforms as inputs. Also, Iterative learning control (ILC) is applied to reduce errors and select an ILC type suitable for soft actuators.

• 한국정밀공학회지
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• 제22권5호
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• pp.87-94
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• 2005

This paper presents the development of a virtual robot design program. Robot design requires numerical software, robot solution software and multi-body dynamics software to complete several designs. However using a commercialized software implies some disadvantages, such as the waste of time and money it costs to learn how to use the software. We developed a virtual robot design program with which a user can design a robot with rapidity and reliability. The virtual robot design program is composed of robot kinematics module and robot dynamics module. The program is powerful software which may be used to solve various problems of a robot. The 3D animator and a 2D/3D graph of the program can analyze the design results into visual data. The virtual robot design program is expected to increase the competitiveness and efficiency of the robot industry.

• 한국산업융합학회 논문집
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• 제17권4호
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• pp.217-226
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• 2014

Since the world has changed to a society of 21st century high-tech industries, the modern people have become reluctant to work in a difficult and dirty environment. Therefore, unmanned technologies through robots are being demanded. Now days, effects such as voice, control, obstacle avoidance are being suggested, and especially, voice recognition technique that enables convenient interaction between human and machines is very important. In this study, in order to conduct study on the stable motion control of the robot system that has mobile-manipulator structure and is voice command-based, kinetic interpretation and dynamic modeling of two-armed manipulator and three-wheel mobile robot were conducted. In addition, autonomous driving of three-wheel mobile robot and motion control system of two-armed manipulator were designed, and combined robot control through voice command was conducted. For the performance experiment method, driving control and simulation mock experiment of manipulator that has two-armed structure was conducted, and for experiment of combined robot motion control which is voice command-based, through driving control, motion control of two-armed manipulator, and combined control based on voice command, experiment on stable motion control of voice command-based robot system that has mobile-manipulator structure was verified.

• 한국산업융합학회 논문집
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• 제22권2호
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• pp.137-146
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• 2019

This study proposed a new technique to control of mobile robot based on voice command for (Human-Robot Cooperative operation in manufacturing precess). High performance voice recognition and control system was designed In this paper for smart factory. robust voice recognition is essential for a robot to communicate with people. One of the main problems with voice recognition robots is that robots inevitably effects real environment including with noises. The noise is captured with strong power by the microphones, because the noise sources are closed to the microphones. The signal-to-noise ratio of input voice becomes quite low. However, it is possible to estimate the noise by using information on the robot's own motions and postures, because a type of motion/gesture produces almost the same pattern of noise every time it is performed. In this paper, we describe an robust voice recognition system which can robustly recognize voice by adults and students in noisy environments. It is illustrated by experiments the voice recognition performance of mobile robot placed in a real noisy environment.

• 한국산업융합학회 논문집
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• 제25권5호
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• pp.853-859
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• 2022

In this study, we analyzed the instantaneous trajectory generation capability and target arrival rate of a mobile robot by changing the parameter of the TEB (Timed Elastic Band) Local Planner among local planners that affect the instantaneous obstacle avoidance ability of the mobile robot using ROS (Robot Operating System) simulation and real experience. As a result, we can expect a decrease in the target arrival time of the mobile robot through a decrease in the parameter values of the TEB Local Planner's min_obstacle_dist, inflation_dist, and penalty_epsilon. However, if this parameter is reduced too much, the risk of obstacle collision of the moving robot is increases, so it is important to combine the appropriate values to construct the parameter.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.36.1-36
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• 2001

Recently the robot industry has developed quickly. There are robots carrying luggage at factories, the amusement robots (such as the pet-type robot) in the house, and so on. As the ability of computers improve, robot ability also improves, because mary calculations can be done in little time. Consequently robots can perform complex motions by various control methods. The robot in our laboratory was developed in order to assist various works in a hospital. We controlled our robot using PID control method. So this paper is written about PID control.

• 한국산업융합학회 논문집
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• 제20권5호
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• pp.405-410
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• 2017

This paper deals with 3D simulation of industrial robot for automated manufacturing system. In order to evaluate the operational characteristics of the industrial robot system in the worst case motion scenario, flexible - rigid multibody analysis was performed. Then, the rigid body dynamics analysis was performed and the results were compared with the flexible - rigid multibody analysis. Modal analysis was also performed to confirm the dynamic characteristics of the robot system. In the case of the flexible-rigid multibody simulation, only the structural members of interest were modeled as elastic bodies to confirm the stress state. The remaining structural members were modeled as rigid bodies to reduce computer resources.

• 한국산업융합학회 논문집
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• 제19권1호
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• pp.39-41
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• 2016

In the paper, we propose an stable walking algorithm of biped robot on the ground and working motion stabilization algorithm against external disturbances. We propose obstacle hurdling, incline walking, and going-up stairs algorithm by using infrared sensors and F/T sensors. Also, posture stabilization algorithm against external forces is designed using F/T sensors. Infrared sensors are used to detect the obstacles in he working environment and F/T sensors are used to obtain the ZMP of biped robot. The experimental results show that the biped robot performs obstacle avoidance, obstacle hurdling, walking on the inclined plane by using the proposed walking moton stabilization algorithm.