• 제어로봇시스템학회논문지
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• 제5권1호
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• pp.105-114
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• 1999

By using the conceptual impedance and the elasticity of a serial chain of spring-damper system, a real-time collision-free trajectory generation algorithm is proposed. The reference points on a trajectory connected by the spring-damper system have a mechanism for self-Position adjustment to avoid a collision by the impedance, and the local adjustment of each reference point is propagated through the elasticity to a real robot at the end of the spring-damper system. As a result, the overall trajectory consisting of the reference points becomes free of collision with environmental obstacles and efficient having the shortest distance as possible. In this process, the reference points connected by the spring-damper system take role of virtual robot as global guidance for a real robot, and a cooperative optimization is carried out by the system of virtual robots. A control algorithm is proposed to implement the impedance for a car-like mobile robot.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 하계종합학술대회 논문집(5)
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• pp.159-162
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• 2000

This paper addresses the design and implementation problem of the mobile robot with the synchronous driving mechanism that consists of modular control systems based on the Universal Serial Bus (USB). Recently, the USB have attracted the hardware developers'interests due to its low cost, compatibility, and extenability. In particular, the USB enables us to organize the whole system in the modular manner very easily, and this property plays a very important role in shortening the developing time in implementing the target system, for example, the mobile robot system. In this paper, we implement the USB motion controller and the USB ultrasonic sensor system and verified the validity and the effectiveness of the proposed system through the real experiments including the mobile robot navigation and the environment recognition.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.478-478
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• 2000

In this paper, presents the design of mobile field robot controlled by microcomputer. The computer works as the supervisory system for decision making and sending command to control the field robot. An information from encoder, infrared sensors using for control task of the robot that can be interconnected with the computer through the serial communication RS422 standard. In this case, the user can design the program algorithm base on microcomputer in order to control and define the routing of the mobile robot. Moreover, the robot can be installed other equipment fer collect data such as picture, sound, temperature etc., in order to working in the dangerous area.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2005년도 춘계학술대회 논문집
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• pp.419-423
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• 2005

In microfactory, loading/unloading mechanism supply the row material to processing machines for manufacturing process such as pressing, cutting, plastic deformation. This mechanism for rnicrofactory is designed as modularity robot. Microfactory system have to be flexible structure for variety product item. For system flexibility, applied mechanisms are developed as moduality. Robot moduality needs the specific characteristics which are different from one of macro, typical robot system. In this paper, we discussed about the modularity robot. and proposed the loading/unloading mechanism for working in microfactory system.

• 한국산학기술학회논문지
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• 제17권11호
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• pp.395-402
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• 2016

이 논문은 직렬형 머니퓰레이터의 관성 성질을 고려하여 에너지 효율을 향상 시키기 위한 설계 방법에 대해 논하였다. 이 방법은 운동방정식에 가장 많은 영향을 끼치는 관성 행렬을 분석하여 최적화 문제의 구속 조건에 대입하는 방식이다. 이를 위해, 첫 번째로 초기에 설계된 머니퓰레이터에 대한 동적 모델링을 도출하고 여기서 표현되는 관성 행렬의 특성을 분석한다. 두 번째로 분석된 관성 행렬의 변화 정도를 정량화하는 지표를 정의하여 구속 조건과 설계 파라미터의 경계조건을 설정하였다. 마지막으로 토크를 목적 함수로 정하고 앞서 정의된 구속 조건과 경계조건을 통하여 최적화를 수행한다. 또한, 목적 함수 외에 관성, 에너지 및 질량에 관련된 보조 지표를 정의하고 최적화된 파라미터가 요구성능을 만족하는지 다시 한번 확인하는 과정을 거치는 설계 알고리즘을 제안하였다. 제안한 설계 알고리즘의 수행 결과로 토크 최소화를 통하여 에너지 효율이 향상되었으며, 제안된 방법을 공간상의3 자유도 직렬 머니퓰레이터에 시뮬레이션 테스트 하였다. 이 설계 알고리즘은 일반적으로n 자유도를 가지는 머니퓰레이터에도 적용이 가능하다.

• 한국생산제조학회지
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• 제25권6호
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• pp.492-497
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• 2016

Teaching an industrial robot is still a dangerous and time-consuming process. It is expected that a robot can track a trajectory that is repeatedly taught by a human operator. Teaching a robot in joint space is easier than that in Cartesian space or a work space because the robot will never lose its stability when it is taught and operated in a joint space. However, it is very easy for a robot to lose its stability when it is taught in a work space. This is because of the singular points problem in kinematics for manipulators. Thus, experts should teach a given task to a robot in a careful manner. A new algorithm that avoids the problem of singular points is proposed. Using this proposed method, a user can freely teach a robot without the chance of instability in an entire work space.

• Journal of Welding and Joining
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• 제16권3호
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• pp.129-140
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• 1998

An interface system was developed to offer the welding capability to a robot controller which had not any embedded function for arc welding before, and also an arc sensor algorithm was proposed for weld seam tracking of the welding robot. For the interface system between the robot controller and welding equipments, data communication software and interface connections were composed. The interface system was mae to correspond welding condition, correction data, operation sequence and current status with the robot controller by mutual had shaking and digital signal transfer. Graphic user interface program developed under the environment of windows made it easy to monitor data communication and operation status, and to control welding and sensing sequence. Arc sensing algorithm proposed in this study to compensate torch position error was based on a fuzzy logic with the variables of current difference and current differenced change at torch weaving extremities. The developed interface system could be successfully implemented in between welding equipments and the robot controller, and showed normal status and exact function in data and signal communication between the systems. The whole robot welding system was then examined to verify its welding and seam tracking capabilities in horizontal fillet, vertical fillet, and 3-dimensional fillet weldment. The experiments revealed sound weld bead shapes and also good seam tracing results.

• 대한기계학회논문집
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• 제19권1호
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• pp.142-149
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• 1995

This paper presents a new kinematic control strategy for serial redundant manipulators which gives repeatability in the joint space when the end-effector undergoes some general cyclic motions. Theoretical development has been accomplished by deriving a new inverse kinematic equation that is based on springs being conceptually located in the joints of the manipulator. Although some inverse kinematic equations for serial redundant manipulators have been derived by many researchers, the new strategy is the first to include the free angles of torsional springs and the free lengths of the translational springs. This is important because it ensures repeatability in the joint space of a serial redundant manipulator whose end-effector undergoes a cyclic type motion. Numerical verification for repeatability is done in terms of Lie Bracket Condition. Choices for the free angle and torsional stiffness of a joint (or the free length and translational stiffness) are made based upon the mechanical limits of the joints.

• International Journal of Precision Engineering and Manufacturing
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• 제2권1호
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• pp.76-80
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• 2001

A binary parallel robot manipulator uses actuators that have only two stable states being built by stacking variable geometry trusses on top of each other in a long serial chain. Discrete characteristics of the binary manipulator make it impossible to analyze an inverse kinematic problem in conventional ways. We therefore introduce new definitions of workspace and inverse kinematic solution, and the apply a genetic algorithm to the newly defied inverse kinematic problem. Numerical examples show that our genetic algorithm is very efficient to solve the inverse kinematic problem of binary robot manipulators.

• 대한의용생체공학회:의공학회지
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• 제24권2호
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• pp.127-132
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• 2003

본 논문에서는 관절 경직 환자의 재활 치료를 위한 공압 실린더를 이용한 하이브리드형 로봇을 연구 개발하였다. 공압 실린더는 우수한 컴플라이언스를 가지고 있고 부피나 중량에 비해 높은 구동력을 가지고 있다 낮은 강성을 지닌 공압 구동기는 안정이 보장되어야 하는 물리 치료용 로봇의 구현에 적용하기 적당하다. 본 연구에서 제안한 로봇 시스템은 직렬형과 병렬형을 결합한 하이브리드 형으로 위치 결정부와 자세 결정부로 구분되며 하이브리드 구조를 통해 넓은 작업영역과 구동력을 얻을 수 있었다. 슬라이딩 모드 제어기를 이용하여 로봇 시스템의 공압 서보시스템의 추종성과 안정성을 얻을 수 있었으며 실험을 통하여서 개발된 시스템에 대한 검증을 하였다.