• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.546-548
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• 1998

This paper deals with ZMP trajectory generation in multi step walking of IWR-III(Inha Walking Robot) Biped Walking Robot. Biped walking is realized by combining 6-types of pre-defined steps and the actual ZMP can be used as a stability index of a robot. For the good tracking of actual ZMP, desired ZMP trajectory is generated during the whole walking time not for each step. Trajectory generation is performed considering velocities and accelerations of given via points using 5-th order polynomial interpolation method. As a result, balancing joints have a more smooth and continuous motion and actual ZMP has a better tracking ability. Numerical simulator is done by MATLAB to guarantee the walking of a robot satisfying the ZMP stability.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.444-450
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• 2011

Environmental change, labor shortage, and international trade politics make agricultural automation ever more important. The automation demands the highest technology due to the nature of agriculture. In this paper, autonomous pesticide spray robot system has been developed for rose farming in the glass house. We developed drive platform, navigation/localization system, atomization spray system, autonomous, remote, and manual operation system, and monitoring system. The robot will be a great contribution to automation of hazardous labor-demanding chore of pesticide control in glass houses.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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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.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2009.05b
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• pp.15-19
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• 2009

As robotic technologies have become more actively utilized to automate many construction tasks, they have been able to improve the construction productivity, quality, and workers safety on site. A new system, of which Robot-based Construction Automation (RCA), is currently being developed, and RCA systems consist of Construction Factory(CF), Automated Bolting Robots, and Climbing Hydraulic Robot. Especially. Climbing Hydraulic robot system is very important to RCA systems because of function as lifting the Construction Factory. In this paper, We validate safety of Climbing Hydraulic Robot system before application for real building construction.

• Journal of Korea Multimedia Society
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• v.25 no.6
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• pp.833-843
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• 2022

Based on the problems of untimely Expressway fire rescue and backward traditional fire rescue methods, an emergency fire fighting and inspection robot riding on expressway guardrail is designed. The overall mechanical structure design of emergency fire fighting and inspection robot riding on expressway guardrail is completed by using three-dimensional design software. The target fire detection is realized by using the target detection algorithm of Yolov5; By selecting a variety of sensors and using the control method of multi algorithm fusion, the basic function of robot on duty early warning is realized, and it has the ability of intelligent fire extinguishing. The BMS battery charging and discharging system is used to detect the real-time power of the robot. The design of the expressway emergency fire fighting and inspection robot provides a new technical means for the development of emergency fire fighting equipment, and improves the reliability and efficiency of expressway emergency fire fighting.

• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.387-396
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• 2022

Logistics industry still heavily relies on human labor in many field processes. However, robot applications in logistics are rapidly increasing, encouraged by technological progresses in robotics and cheaper robot solutions from competition between robot suppliers. Effectiveness of logistics automation are higher productivity for cost reduction and increased process capabilities for better profit, which is witnessed in many fields of logistics industry. In this paper, differences in logistics services - contract logistics, parcel, and fulfillment - are addressed, and characteristics and issues in application of various kinds of logistics robots such as AGV, AMR, ASRS, box/piece handling robots and robotic wearable devices are discussed. The advantages from flexibility and scalability of logistics automation by robots will benefit the future logistics business.

• International conference on construction engineering and project management
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• 2005.10a
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• pp.520-526
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• 2005

Automation in construction has been restricted to special classes of tasks. Curtain walls can be handled like standard construction materials; they are heavy but breakable, and are large but require precise installation. These characteristics make the installation of curtain walls ideal for robotic automation. There are two methods for developing construction robots: The first is approving the robot performance and applying it to the current construction methods. The second is admitting the limitation of the current robot technology and trying to optimize the current method of construction to apply the robot system. In this study, we derived the performance requirements of a curtain wall-installation robot. We also tested this robot at a real construction site and evaluated its performance. Finally, the results were analyzed, and we proposed additional research.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.2
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• pp.585-591
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• 2013

A robot automation system for coating uniformly a big radiator used in PPS(Packaged Power Station), which consists of 6-axis robot with spray gun, travelling vehicle, supply device of coating paint and thinner with pressured air, HMI controller and robot path OLP(Off-Line Programming), was developed. Experimental results on an optimum operation condition show that a coating thickness is $43{\mu}m$, which is satisfied to a design reference of $25-100{\mu}m$. A productivity of the developed coating robot automation system based on OLP is about 12.6 times of that of manual operation.

• Nuclear Engineering and Technology
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• v.56 no.5
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• pp.1913-1924
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• 2024

This paper presents the design and operation of an autonomous robot for pyroprocess automation, which requires unique approaches beyond those used in industrial applications to achieve the desired performance. Maintaining an extremely dry atmosphere is crucial to handle various materials, including chloride, and an autonomous system ensures this dry environment. The drying room dehumidifier was carefully selected and designed to generate dry air, and different types of dry air conditioning performance were evaluated, including assessing worker accessibility inside the mock-up to determine the system's feasibility. Containers used for process materials were modified to fit the gripper system of the gantry robot for automation. The loading and unloading of process materials in each equipment were automatically performed to connect the process equipment with the robotic system. The gantry robot primarily operated through macro motion to approach waypoints containing process materials, eliminating the need for precise approach motion. The robot's tapered jaw design allowed it to grasp the target object even with imperfect positioning. Robot motions were programmed using a robot simulator for initial positioning and motion planning, and real accuracy was tested in a mock-up facility using the OPC platform.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1395-1399
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• 2005

Lately, the demand for automation in the industries has increased and automation system has continuously installed in various industrial fields. But automation for shipbuilding industries is more difficult than others. Because we must cope with diverse ship types and owner's various requirements. Nevertheless, for the past several years a steady development on welding robot for shipbuilding has been going on. Existing automatic welding robots are operated separately and do not communicate with each other. In the existing facilities, although a unit of robot has a good performance, and if all of units are not operated systematically, we are not satisfied with results of our system. So we suggest an integration and operation method of system units. System integration methods applied to our system have in many cases lead to lower cost and shorter lead time.