• 로봇학회논문지
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• 제11권4호
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• pp.293-299
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• 2016

In this article art performing applications of industrial dual-arm robots are introduced. It was real collaboration among robot researchers and artist. Artist designed the performance to use dual-arm robot. Robot researchers collaborated with artist by providing robotic constraints and configuring robot motion. Two art performances were configured with two industrial dual-arm robots. In both performance robots carry objects to be used as moving screens. Both performances rely on the high power and high precision of robots. In addition human-like appearance make those performances be familiar to public.

• Nuclear Engineering and Technology
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• 제48권4호
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• pp.982-996
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• 2016

In this paper, new tethered aerial robots including roaming tethered aerial robots (RTARs) for radioactive material sampling and stationary tethered aerial robots (STARs) for environment monitoring are proposed to meet extremely-long-endurance missions of nuclear power plants. The flight of the proposed tethered aerial robots may last for a few days or even a few months as long as the tethered cable provides continuous power. A high voltage AC or DC power system was newly adopted to reduce the mass of the tethered cable. The RTAR uses a tethered cable spooled from the aerial robot and an aerial tension control system. The aerial tension control system provides the appropriate tension to the tethered cable, which is accordingly laid down on the ground as the RTAR roams. The STAR includes a tethered cable spooled from the ground and a ground tension control system, which enables the STAR to reach high altitudes. Prototypes of the RTAR and STAR were designed and successfully demonstrated in outdoor environments, where the load power, power type, operating frequency, and flight attitude of the RTAR and STAR were: 180 W, AC 100 kHz, and 20 m; and 300 W, AC or DC 100 kHz, and 80 m, respectively.

• 한국군사과학기술학회지
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• 제15권5호
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• pp.535-542
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• 2012

Recently, the study on small-sized reconnaissance robot has been progressed through grafting robot technology to military fields for minimizing the casualties. Especially, throwable robots have been focusing for their's efficiency in anti-terror operation. However, it is impossible to launch throwable robot to long range(approximately 100m) by hand. So we need another type of robots, so called launchable robots, which can launch farther and is more accurate by launcher. In this paper, we presented the process of developments of launchable robots('launchbot') which are available for remote launch from collection of user's opinions to field test. Based on the opinions of users, we established the goal of development, designed and manufactured the robots. Through the field test, we found that our launchable robot satisfied the performance requirements.

• 반도체디스플레이기술학회지
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• 제4권2호
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• pp.25-32
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• 2005

This paper proposes a method for the intelligent load distribution of two cooperating robots(TCRs) using fuzzy logic. The proposed scheme requires the knowledge of the robots' dynamics, which in turn depend upon the characteristics of large flat panel displays(LFPDs) carried by the TCRs. However, the dynamic properties of the LFPD are not known exactly, so that the dynamics of the robots, and hence the required Joint torque, must be calculated for nominal set of the LFPD characteristics. The force of the TCRs is an important factor in carrying the LFPD. It is divided into external force and internal force. In general, the effects of the internal force of the TCRs are not considered in performing the load distribution in terms of optimal time, but they are essential in optimal trajectory planning; if they are not taken into consideration, the optimal scheme is no longer fitting. To alleviate this deficiency, we present an algorithm for finding the internal-force (actors for the TCRs in terms of optimal time. The effectiveness of the proposed system is demonstrated by computer simulations using two three-joint planner robot manipulators.

• 제어로봇시스템학회논문지
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• 제4권3호
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• pp.342-348
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• 1998

A majority of industrial robots are controlled by a simple joint servo control of joint actuators. In this type of control, the performance of control is greatly influenced by the joint interaction torques including Coriolis and centrifugal forces, which act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increases, and hence makes the high speed - high precision control more difficult to achieve. In this paper, the joint disturbance torque of robots is analyzed. The joint disturbance torque is defined using the coefficients of dynamic equation of motion, and for the case of a 2 DOF planar robot, the conditions for the minimum and maximum joint disturbance torques are identified, and the effect of link parameters and joint variables on the joint disturbance torque are examined. Then, a solution to the optimal path placement problem is propose that minimizes the joint disturbance torque during a straight line motion. The proposed method is illustrated using computer simulation. The proposed solution method can be applied to a class of robots that are controlled by independent joint servo control, which includes the vast majority of industrial robots.

• 제어로봇시스템학회논문지
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• 제12궈1호
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• pp.66-71
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• 2006

Recently, there are lots of concerning on ubiquitous environment of robots and URC (Ubiquitous Robotic Companion). In this paper, a practical ubiquitous interface system far controlling mobile robots in indoor environments was proposed. The interface system was designed as a manager-agent model including a PC manager, a mobile manager, and robot agents for being able to be accessed by any network. In the system, the PC manager has a 3D virtual environment and shows real images for a human-friendly interface, and share the computation load of the robot such as path planning and managing geographical information. It also contains Hybrid Format Manager(HFM) working for transforming the image, position, and control data and interchanging them between the robots and the managers. Mobile manager working in the minimized computing condition of handsets has a mobile interface environment displaying the real images and the position of the robot and being able to control the robots by pressing keys. Experimental results showed the proposed system was able to control robots rising wired and wireless LAN and mobile Internet.

• 제어로봇시스템학회논문지
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• 제16권5호
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• pp.481-488
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• 2010

Most public guide robots installed in public spots such as exhibition halls and lobbies of department store etc., have poor capability to distinguish the users who require services. As to provide suitable services, public guide robots should have a human detection system that makes it possible to evaluate intention of customers from their movement direction. In this paper, a DPS (Directional Perception System) is realized based on face detection technology. In particular, to catch human movement efficiently and reduce computational time, human detection technology using face rectangle, which is obtained from the human face, is developed. DPS determines which customer needs services of public guide robots by investigating the size and direction of face rectangle. If DPS is adapted, guide service will be provided with more satisfaction and reliability, and power efficiency also can be added up because public guide robots provide services only for the users who expresses their intentions of wanting services explicitly. Finally, through several experiments, the feasibility of the proposed DPS is verified.

• 제어로봇시스템학회논문지
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• 제15권9호
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• pp.946-951
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• 2009

The small multi-jointed robots for most education are developed with the way of firmware. But the firmware may be very difficult to develop as gradually increasing throughputs and control routines. Due to limit of firmware we try to use on RTOS, but hard to adapt on the small multi-jointed robots. It would be hard to install RTOS into the small multi-jointed robots because of the size capacity of RTOS, and lack of libraries for control of the particular hardware. Moreover, even its RTOS with many functions causes its to make overheads scheduling, TCB (Task Control Block), and task states. Also to keep maintenance of RTOS, it is composed of components for the whole structure of my proposed RTOS. Additionally, We provided with libraries of servo motor and sensor control and developed RMS (Rate Montonic scheduler) to handle tasks on real time and reduce overheads. Therefore, It is possible to work the fixed priority and task preemptive way. We show one example of the multi-jointed robot installed with my proposed RTOS, which shows to obstacle avoidance and climbing up the slope.

• 제어로봇시스템학회논문지
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• 제22권12호
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• pp.1027-1033
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• 2016

There is an increasing need for manufacturing systems to produce batches in small quantities. Such manufacturing systems are significantly difficult to develop with conventional automation equipment. Recently, several research groups have applied industrial dual-arm robots to cell production lines. A synchronization method for robots is necessary for the cell production process when robots work in a shared workspace. Conventional automation factories do not need this method because the main control system operates all of the machines or robots. However, our intended application for the developed robot is in small manufacturing environments that cannot install an expensive main control system. We propose an inexpensive and high-performance method with a simple digital in/out channel using a real-time communication protocol. The developed method was validated in a pilot production line for cellular phone packing.

• 로봇학회논문지
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• 제12권1호
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• pp.86-93
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• 2017

The Expanded Guide Circle (EGC) method has been originally proposed as the guidance navigation method for improving the efficiency of the remote operation using the sensory information. The previous algorithm is, however, concerned only for the omni-directional mobile robot, so it needs to suggest a suitable one for a mobile robot with non-holonomic constraints. The ego-kinematic transform is a method to map points of $R^2$ into the ego-kinematic space which implicitly represents non-holonomic constraints for admissible paths. Thus, robots with non-holonomic constraints in the ego-kinematic space can be considered as "free-flying object". In this paper, we propose an effective obstacle avoidance method for mobile robots with non-holonomic constraints by applying EGC method in the ego-kinematic space using the ego-kinematic transformation. This proposed method shows that it works better for non-holonomic mobile robots such as differential-drive robot than the original one. The simulation results show its effectiveness of performance.