• Journal of Power System Engineering
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• v.21 no.1
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• pp.30-36
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• 2017

In robot industries, the request to obtain a high efficiency and accurately controlled electric actuator has been growing. Nevertheless, the effectiveness of electric actuators is significantly affected by the presence of factors such as nonlinearity, uncertain disturbance and unknown dynamics. Therefore, it makes difficult to derive an exact mathematical model of the controlled system. In this paper, a new method for easily recognizing and regenerating robot motions used in small size industries such as painting and welding parts is proposed. Instead of modeling the entire dynamic motion of the robot system, this method is based on the procedure of modeling and controller design for every arm individually. The proposed method does not require complex model and control system such that it gives easy working process to the small size industries. Based on this fact, in this research, the model and PID controller for every arm of the 3 DOF robot system are obtained separately. Some experimental results are implemented to validate the effectiveness of the proposed method.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.9 no.1
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• pp.10-15
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• 2009

With the development of techniques, robots are getting smaller, and the number of robots needed for application is greater and greater. How to coordinate large number of autonomous robots through local interactions has becoming an important research issue in robot community. Swarm Robot Systems (SRS) is a system that independent autonomous robots in the restricted environments infer their status from pre-assigned conditions and operate their jobs through the cooperation with each other. In the SRS, a robot contains sensor part to percept the situation around them, communication part to exchange information, and actuator part to do a work. Especially, in order to cooperate with other robots, communicating with other robots is one of the essential elements. Because Bluetooth has many advantages such as low power consumption, small size module package, and various standard protocols, it is rated as one of the efficient communicating technologies which can apply to small-sized robot system. In this paper, we will develop Bluetooth communicating system for autonomous robots. And we will discuss how to construct and what kind of procedure to develop the communicating system for group behavior of the SRS under intelligent space.

• Tunnel and Underground Space
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• v.30 no.1
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• pp.76-86
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• 2020

In this study, a small autonomous driving robot was developed for underground mines using the Light Detection and Ranging (LiDAR) sensor. The developed robot measures the distances to the left and right wall surfaces using the LiDAR sensor, and automatically controls its steering to drive along the centerline of mine tunnel. A field experiment was conducted in an underground amethyst mine to test the driving performance of developed robot. During five repeated driving tests, the robot showed stable driving performance overall. There were no collision accidents with the wall of mine tunnel.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.270-277
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• 2019

Inspired by small insects, which perform rapid and stable locomotion based on body softness and tripod gait, various milli-scale six-legged crawling robots were developed to move rapidly in harsh environment. In particular, cockroach's leg compliance was resembled to enhance the locomotion performance of the crawling robots. In this paper, we investigated the effects of changing leg compliance for the locomotion performance of the small light weight legged crawling robot under various payload condition. First, we developed robust milli-scale six-leg crawling robot which actuated by one motor and fabricated in SCM method with light and soft material. Using this robot platform, we measured the running velocity of the robot depending on the leg stiffness and payload. In result, there was optimal range of the leg stiffness enhancing the locomotion ability at each payload condition in the experiment. It suggests that the performance of the crawling robot can be improved by adjusting stiffness of the legs in given payload condition.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.124-132
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• 2022

With growth in intelligence of mobile robots, interaction with humans is emerging as a very important issue for mobile robots and the pedestrian tracking technique following the designated person is adopted in many cases in a way that interacts with humans. Among the existing multi-object tracking techniques for pedestrian tracking, Simple Online and Realtime Tracking (SORT) is suitable for small mobile robots that require real-time processing while having limited computational performance. However, SORT fails to reflect changes in object detection values caused by the movement of the mobile robot, resulting in poor tracking performance. In order to solve this performance degradation, this paper proposes a more stable pedestrian tracking algorithm by correcting object tracking errors caused by robot movement in real time using wheel odometry information of a mobile robot and dynamically managing the survival period of the tracker that tracks the object. In addition, the experimental results show that the proposed methodology using data collected from actual mobile robots maintains real-time and has improved tracking accuracy with resistance to the movement of the mobile robot.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.832-835
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• 2004

In this paper, we implement a sensor which can perceive obstacles. We constructed it with a laser emitting a structured light and a small pc camera. It is cheap and can measure the precise sizes of the obstacles. Ultrasonic arrays and laser scanners are used generally to perceive obstacles in the autonomous mobile robot until now. However we knew that they can perceive big obstacles well, but cannot perceive small obstacles on the ground by experiments. We mounted this equipment to our robot and use it to perceive the obstacles of the front side. Our robot can recognize the obstacles of 10mm height. We expect that this equipment will be useful because it is cheap but work well.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.166-171
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• 1989

In the view of the fact that mobile robot in nuclear facilities should be able to turn in narrow space, go over obstacles, and climb stairs for the inspection and maintenance, a robot, named as KAEROT, is developed. It adopts 2DWIS (2-Driving Wheels, 1-Steering) and has three planetary wheels that are composed of two star-like arms and three small wheels. The experiments were carried out in two locomotion methods; (1) by controlling the rear wheel speed as a function of steering angle, and (2) by using inclination and stair-detection sensor to control the position of planetary and small wheel. The developed robot moved on the floor with stability. Results from the experiment on the rectangular obstacle as well as the computer simulation showed a feasibility on the stairs.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.302-305
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• 2003

In this paper, dynamic behaviors of a small-sized flying robot with 4 rotors propelled by DC motor are discussed, and a control scheme based on the dynamic model to make stable flying motions, i.e., hovering, take-off, cruising behavior, etc. is proposed. The experimental results via some flying tests show good performances for practical use. The flying robot with 6DOF is controlled only 4 DOF, and the rest of two DOF are remained under the dynamic constraints. How to give the stability of all positions and orientations and to make the omni-directional motions in spite of such restrictions is analyzed. The proposed control scheme composes of two stages. First, PD control inputs for the trust-force and orientation are calculated, next the control inputs are distributed to each rotor by using a sort of Jacobian matrix. To design and control of a low cost - small sized flying robot, vibrated gyro sensor, cheap accelerometer, IR, and ultra sonic sensors are selected.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.5
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• pp.561-573
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• 2019

This study proposes a new approach to implement smart factory based on robot monitoring system for a small and medium sized enterprise. The simulator includes the forward kinematics and inverse kinematics analyzes of articulated robots. We also modeled the dynamics of the robot and made it possible to simulate it in the program. We studied the interface between the user and the monitoring programming system using the GUI environment of Windows OS, and it is configured to select the appropriate trajectory planning and control method. The reliability of simulator is illustrated by simulation test.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.9
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• pp.1145-1151
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• 2010

In this paper, we discuss the design and simulation of a jumping-robot mechanism that is actuated by SMA (shape memory alloy) wires. We propose a jumping-robot mechanism; the structure of the robot is inspired by the musculoskeletal system of vertebrates, including humans. Each robot leg consists of three parts (a thigh, shank, and foot) and three kinds of muscles (gluteus maximus, rectus femoris, and gastrocnemius). The jumping capability of the robot model was tested by means of computer simulations, and it was found that the robot can jump to about four times its own height. This robot model was also compared with another model with a simpler structure, and the performance of the former, which was based on the biomimetic design, was 3.3 times better than that of the latter in terms of the jumping height. The simulation results also verified that SMA wires can be suitable actuators for small jumping robots.