• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.41-46
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• 1990

In the existing robot programming methods, off-line method becames important role of programming because of improvement of hardware and software of PC. The purpose of this study is to develop practical robot programming system for polishing task using PC. In the first place, we have investigated the existing robot programming systems, and derived the requirement of this programming system from the existing systems. And we have decided the structure of this system. After that, we have developed this system. Using Windows software, this programming system has man/machine interface function. So users can use easily and quickly.

• 한국기계연구소 소보
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• 통권20호
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• pp.33-39
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• 1990

In the existing robot programming methods, off-line method because important role of programming because of improvement of hardware and softeare of PC. The purpose of this study is to develop practical robot programming system for polishing task using PC. In the first place, we have investigated the existing robot programming systems, and derived the requirement of this programming system from the existing systems. And we have decied the structure of this system. After that, we have developed this system. Using Windows software, this programming system has man/machine interface function. Therefore users can use easily and quickly.

• 한국컴퓨터정보학회논문지
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• 제19권12호
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• pp.21-29
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• 2014

본 논문에서는 효율적인 로봇공연시스템(RPS:Robot Performance System)을 제안한다. 본 논문에서 제안하는 로봇공연시스템은 외부 음향재생장치의 도움 없이 휴머노이드 로봇 몸체에 개발한 사운드보드를 삽입하여 음향을 재생하고 공연에 필요한 음원을 사운드보드내의 외부기억장치에 기억할 수 있도록 하드웨어를 개발하였다. 또한 공연 기획 시나리오 생성 전문 소프트웨어인 RPPDP(Robot Performance Planning Development Program)를 개발하였는데, RPPDP를 이용하면 기존에 개발된 로봇의 기본동작, 응용동작 및 특별한 상황에 적용되는 동작 등을 모션데이터베이스에서 검색하여 사용할 수 있어서, 적은 비용과 짧은 시간으로 누구나 쉽게 로봇공연을 기획할 수 있도록 하였다.

• 한국멀티미디어학회논문지
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• 제18권3호
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• pp.387-400
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• 2015

A fuzzy logic based mobile robot navigation system was developed to improve the driving ability without trapping inside obstacles in complex terrains, which is one of the most concerns in robot navigation in unknown terrains. The navigation system utilizes the data from ultrasonic sensors to recognize the distances from obstacles and the position information from a GPS sensor. The fuzzy navigation system has two groups of behavior rules, and the robot chooses one of them based on the information from sensors while navigating for the targets. In plain terrains the robot with the proposed algorithm uses one rule group consisting of behavior rules for avoiding obstacle, target steering, and following edge of obstacle. Once trap is detected the robot uses the other rule group consisting of behavior rules strengthened for following edge of obstacle. The output signals from navigation system control the speed of two wheels of the robot through the fuzzy logic data process. The test was conducted in the Matlab based mobile robot simulator developed in this study, and the results show that escaping ability from obstacle is improved.

• 로봇학회논문지
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• 제12권4호
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• pp.395-401
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• 2017

In this paper, we introduce a robot-assisted medical diagnostic system that enables remote ultrasound (US) imaging to be applied to the conventional telemedicine, which has been possible only with interviewing or a visual exam. In particular, a master-slave robot system is developed that ultrasonic diagnosis specialist can control the position and orientation of US probe in the remote place. The slave robot is designed to be compact, lightweight, and hand-held so that it can easily transfer to the remote healthcare center. Moreover, 6-degree-of-freedom (DOF) probe motion is possible by the robot design based on Stewart platform. The master device is also based on a similar structure of the slave robot. To connect master and slave system in the wide area network (WAN) environment, a hardware CODEC was developed. In this paper, we introduce the detail of each component and the results of the recent experiments conducted in the remote sites by the developed robotic ultrasound imaging system.

• 센서학회지
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• 제19권3호
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• pp.246-257
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• 2010

Autonomous guided robot navigation which consists of following unknown paths and avoiding unknown obstacles has been a fundamental technique for unmanned robots in outdoor environments. The unknown path following requires techniques such as path recognition, path planning, and robot pose estimation. In this paper, we propose a novel sensor fusion system for autonomous guided robot navigation in outdoor environments. The proposed system consists of three monocular cameras and an array of nine infrared range sensors. The two cameras equipped on the robot's right and left sides are used to recognize unknown paths and estimate relative robot pose on these paths through bayesian sensor fusion method, and the other camera equipped at the front of the robot is used to recognize abrupt curves and unknown obstacles. The infrared range sensor array is used to improve the robustness of obstacle avoidance. The forward camera and the infrared range sensor array are fused through rule-based method for obstacle avoidance. Experiments in outdoor environments show the mobile robot with the proposed sensor fusion system performed successfully real-time autonomous guided navigation.

• 전기전자학회논문지
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• 제27권4호
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• pp.610-616
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• 2023

본 논문에서는 Robot Operating System(ROS) 기반의 모바일 매니퓰레이터(Manipulator)를 이용한 무인 배송 로봇 시스템을 구현하고 시스템 구현을 위해 사용된 기술에 대해 소개한다. 로봇은 엘리베이터를 이용해 건물 내부에서 자율주행이 가능한 모바일 로봇과 진공 펌프를 부착한 Selective Compliance Assembly Robot Arm(SCARA)-Type의 매니퓰레이터로 구성된다. 로봇은 매니퓰레이터에 부착된 카메라를 이용하여 이미지 분할과 모서리 검출을 통해 배송물을 들어올리기 위한 위치와 자세를 결정할 수 있다. 제안된 시스템은 스마트폰 앱 및 ROS와 연동된 웹서버를 통해 배송 현황을 조회하고 로봇의 실시간 위치를 파악할 수 있도록 사용자 인터페이스를 가지고 있으며, You Only Look Once(YOLO)와 Optical Character Recognition(OCR)을 통해 배송 스테이션에서 배송물과 주소지를 인식한다. 아울러 4층 건물 내부에서 진행한 배송 실험을 통해 시스템의 유효성을 검증하였다.

• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 2009년 추계학술발표대회
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• pp.29-29
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• 2009

On this research, laser welding technology for manufacturing automobile body is studied. Laser welding technology is one of the important technologies used in the manufacturing of lighter, safer automotive bodies at a high level of productivity; the leading automotive manufacturers have replaced spot welding with laser welding in the process of car body assembly. Korean auto manufacturers are developing and applying the laser welding technology using a high output power Nd:YAG laser and a 6-axes industrial robot. On the other hand, the robot-based remote laser welding system was equipped with a long focal laser scanner system in robotic end effect. Laser system, robot system, and scanner system are used for realizing the high speed laser welding system. The remote laser welding system and industrial robotic system are used to consist of robot-based remote laser welding system. The robot-based remote laser welding system is flexible and able to improve laser welding speed compared with traditional welding as spot welding and laser welding. The robot-based remote laser systems used in this study were Trumpf's 4kW Nd:YAG laser (HL4006D) and IPG's 1.6kW Fiber laser (YLR-1600), while the robot systems were of ABB's IRB6400R (payload:120kg) and Hyundai Heavy Industry's HX130-02 (payload:130kg). In addition, a study of quality evaluation and monitoring technology for the remote laser welding was conducted. The welding joints of steel plate and steel plate coated with zinc were butt and lapped joints. The quality testing of the laser welding was conducted by observing the shape of the beads on the plate and the cross-section of the welded parts, analyzing the results of mechanical tension test, and monitoring the plasma intensity and temperature by using UV and IR detectors. Over the past years, Trumf's 4kW Nd:YAG laser and ABB's IRB6400R robot system was used. Nowadays, the new laser source, robot and laser scanner system are used to increase the processing speed and to improve the efficiency of processes. This paper proposes the robot-based remote laser welding system as a means of resolving the limited welding speed and accuracy of conventional laser welding systems.

• 한국경영과학회:학술대회논문집
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• 대한산업공학회/한국경영과학회 1996년도 춘계공동학술대회논문집; 공군사관학교, 청주; 26-27 Apr. 1996
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• pp.249-252
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• 1996

This paper presents an algorithmic approach used in the development of a task-level off-line programming system for the efficient applicaiton of robot. In the method, robot tasks are graphically described with manipulation functions. By applying robot language these graphic robot tasks are converted into commands for the robot. A programming example demonstrates the potentiality of task-oriented robot programming.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.472-475
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• 2005

This paper present a robot controller developed for shipbuilding yard. Since shipbuilding process handles large work pieces and has dusty and noisy environment, the developed controller has separated architecture into main control part and servo control part. Main control part is located in control room while servo control part is located near robot with work pieces. Commutation between two parts is done through SynqNet and RS485. Air purging system is adapted to servo control part for better reliability. We aimed open architecture in both hardware and software architecture. For open hardware architecture, we employed Compact PCI (cPCI) because it is widely used bus system and very reliable. Since lots of commercial boards are available with cPCI interface, upgrade and reconfiguration is easy. For open software architecture, Windows XP�� Embedded is selected as operating system (OS), because it is very popular OS and most hardware vender supports device driver for the windows XP.