• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.9
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• pp.740-752
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• 1989

Many works have been reported in various fields on the subject of controlling a robot with high-level robot languages. This paper presents one such effort and explains the development of an automatic robot programming system which utilizes the concept of the task level language. This system is expected to act as an intelligent supporting tool in robot programming and be put into practical use. Emphasis is placed on the role of the programming system as a tool that generates the executable robot program according to the user specified tasks. Several task level commands are used in the developed system, and the resulting inflexibility is complemented by the motion level commands of the motion level robot languages. Thus, the advantages of both task and motion level languages are utilized, and no knowledge of specific language grammer is needed even when using motion level commands. To increase the usability of the developed system, various methods are provided for supplementing the programming system using taught data.

• Journal of Mechanical Science and Technology
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• v.15 no.8
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• pp.1097-1107
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• 2001

In this paper, the wall following navigation algorithm of the mobile robot using a mono vision system is described. The key points of the mobile robot navigation system are effective acquisition of the environmental information and fast recognition of the robot position. Also, from this information, the mobile robot should be appropriately controlled to follow a desired path. For the recognition of the relative position and orientation of the robot to the wall, the features of the corridor structure are extracted using the mono vision system, then the relative position, the offset distance and steering angle of the robot from the wall, is derived for a simple corridor geometry. For the alleviation of the computation burden of the image processing, the Kalman filter is used to reduce search region in the image space for line detection. Next, the robot is controlled by this information to follow the desired path. The wall following control scheme by the PD control scheme is composed of two control parts, the approaching control and the orientation control, and each control is performed by steering and forward-driving motion of the robot. To verify the effectiveness of the proposed algorithm, the real time navigation experiments are performed. Through the result of the experiments, the effectiveness and flexibility of the suggested algorithm are verified in comparison with a pure encoder-guided mobile robot navigation system.

• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.5
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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 $1^{\circ}$.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1840-1843
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• 1997

The task environment of a robot is changing rapidly and task itself becomes complicated due to current industrial trends of multi-product and small lot size production. A convenient user-interfaced off-line programming(OLP) system is being developed in order to overcome the difficulty in teaching a robot task. Using the OLP system, operators can easily teach robot tasks off-line and verify feasibility of the task through simulation of a robot prior to the on-line execution. However, some task errors are inevitable by kinematic differences between the robot model in OLP and the actual robot. Three calibration methods using image information are proposed to compensate the kinematic differences. These methods compose of a relative position vector method, three point compensation method, and base line compensation method. To compensate a kinematic differences the vision system with one monochrome camera is used in the calibration experiment.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.7
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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.

• Journal of Ocean Engineering and Technology
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• v.29 no.5
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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.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.11a
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• pp.79-84
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• 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.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.2
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• pp.156-160
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• 2008

A localization system to estimate the position as well as movement direction of mobile robots is proposed in this paper. This system implements a camera fixed on a robot and color patches evenly distributed and mounted on the planar ceiling. Different permutations of patch colors code information about robot localization. Thus, extraction of color information from patch images leads to estimation of robot position. Additionally, simple geometric indicators are combined with patch colors to estimate robot's movement direction. Since only the distribution of patch colors has to be known, the analysis of patch images to is relatively fast and simple. The proposed robot localization system has been successfully tested for navigation of sample mobile robot. Obtained test results indicate the robustness and reliability of proposed technique for robot navigation.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.3
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• pp.233-238
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• 2010

This paper describes a multi-mobile robot system with fuzzy rule based structure in collision avoidance. Collision avoidance is an important function to perform a given task collaboratively and cooperatively in multi-mobile robot environments. So the important but challenging problem is handled in this paper. Considered obstacles for collision avoidance between multi mobile robots are static, dynamic, or both of them at the same time. Using the fuzzy rule based structure, distance and angle from a robot to obstacles are described as fuzzy linguistic values and steering angle for the robot are updated from the collision environments. As a result, the multi-mobile robot can modify a global path from a robot itself to its own target. In addition, avoiding collision with static or dynamic obstacles for the robot system can be achieved. Simulation based experimental results are given to show usefulness of this method.

• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.431-437
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• 2022

This paper deals with a study on the automatic depalletizing robot for parcels loaded in rolltainer of domestic postal distribution centers. Specifically, we proposed a robot system that detect parcels loaded in a rolltainer with a 3D camera and perform de-palletizing using a cooperative robot. In addition, we developed the task flow chart for parcel de-palletizing and the method of retreat motion generation in the case of collision with rolltainer. Then, we implemented the proposed methods to the robot's controller by developing robot program. The proposed robot system was installed at the Anyang Post Distribution Center and field tests were completed. Field tests have shown that the robotic system has a success rate of over 90% for depalletizing task. And it was confirmed that the average tact time per parcel was 7.3 seconds.