• 대한기계학회논문집A
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• 제35권12호
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• pp.1593-1598
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• 2011

본 연구의 목적은 LCD 공정에서 사용되는 반송로봇의 상태감시 파라미터를 선정하고 이를 이용하여 상태감시 방법을 제안하는데 있다. LCD 반송로봇의 주행부 진동특성을 파악하기 위하여 주행부 감속기의 기어물림주파수(GMF)를 구하고, 주파수분석을 통해 이를 확인하였다. 취득데이터의 재연성을 확보하기 위하여 데이터 취득 운행 패턴을 선정하고 실험을 통해 재연성을 확인하였다. 무선데이터 취득 시스템을 구축하고 이를 이용하여 반송로봇의 상태를 감시하기 위한 기어물림 주파수를 중심으로 파라미터로 선정하였다. 취득된 데이터의 표준편차를 이용하는 상태감시 방법과 진폭의 배수를 이용하는 상태감시 방법을 제안하였다.

• 한국지능시스템학회논문지
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• 제17권7호
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• pp.901-906
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• 2007

미지의 환경에서 이동로봇이 자율 주행을 할 수 있기 위해서는 경로 설정 및 장애물 회피가 필수적인 요소이다. 이를 위해 본 논문에서는 비전과 IR 센서로부터 획득한 데이터와 퍼지규칙을 이용하는 자율 주행 알고리즘을 구현하고자 한다. 로봇과 장애물과의 거리가 멀리 떨어져 있는 경우는 비전에서 얻은 2차원 이미지를 메디안 필터링, 에지 추출, 모폴로지, 세선화 과정을 거쳐 임시 목표물을 설정한 다음, 거리 변화율 기법과 퍼지 규칙을 이용하여 경로 설정을 한다. 로봇과 장애물과의 거리가 근접할 경우는 IR 센서를 이용하여 경로 설정 및 근접 장애물 회피를 하도록 한다. 그리고 본 논문에서는 제안된 퍼지규칙을 이용한 데이터 융합 알고리즘이 이동로봇을 미지의 환경에서 보다 효율적으로 주행하게 할 수 있음을 실제 실험을 통해 보여주고자 한다.

• 한국인터넷방송통신학회논문지
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• 제17권2호
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• pp.173-178
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• 2017

과거부터 로봇의 실생활 활용에 관한 연구가 지속됨에 따라 현대사회에서 이전까지의 실험 환경에서 벗어나 사회 각 분야로의 진출이 지속적으로 시도 되고 있다. 하지만 로봇이 실제 환경에 적용되기 위해서 기존의 로봇 플랫폼 상용화의 가장 큰 단점으로 꼽히는 생산 비용과 인간 기준의 작업환경에서의 적응성 문제가 선결되어야 한다. 본 논문에서는 사람의 자유도와 크기를 따르는 이족보행 형태의 로봇을 제안하였으며, 엔코더를 포텐셔미터 접목모듈로 대체하여 높은 생산 단가를 절감하고, 파트 교체가 쉬운 모듈형 설계를 채택하여 로봇의 유지 보수비용을 절감 하였다. 최종적으로 크기와 모터의 배열이 다른 두 가지의 더미로봇에 보행패턴을 적용하여 안정성을 검증하였고, 본 논문에서는 제작된 실제 로봇들을 이용한 보행 패턴을 적용 및 보행 실험을 통하여 제안한 이족보행 로봇 적용가능성을 검증하였다.

• 드라이브 ㆍ 컨트롤
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• 제20권4호
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• pp.27-34
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• 2023

Weeding in orchards is closely associated with productivity and quality. The customary weeding process is both labor-intensive and time-consuming. To solve the problems, there is need for automation of agricultural robots and machines in the agricultural field. On the other hand, orchards have complicated working areas due to narrow spaces between trees and amorphous terrain. Therefore, it is necessary to develop customized robot technology for unmanned weeding work within the department. This study developed a path generation and path control method for unmanned weeding according to the orchard environment. For this, the width of the weeding span, the number of operations, and the width of the weeding robot were used as input parameters for the orchard environment parameters. To generate a weeding path, a weeding robot was operated remotely to obtain GNSS-based location data along the superheated center line, and a driving performance test was performed based on the generated path. From the results of orchard field tests, the RMSE in weeding period sections was measured at 0.029 m, with a maximum error of 0.15 m. In the steering period within row and steering to the next row sections, the RMSE was 0.124 m, and 0.047 m, respectively.

• 제어로봇시스템학회논문지
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• 제17권7호
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• pp.685-696
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• 2011

An efficient laparoscope manipulator robot was designed to automatically control the position of laparoscope via a passive joint on end-effector position. The end position of the manipulator is controlled to have corresponding velocity defined in the global coordinate space using laparoscopic visual information. Desired spatial position of laparoscope was derived from detected positions of surgical instrument tips, then the clinical viewing plane was moved by visual servoing task. The laparoscope manipulator is advantageous for automatically maintaining clinically important views in the laparoscopic image without any additional operator. A laparoscope is mounted to a holder which is linked to four degree of freedom manipulator via universal joint-type passive rings connection. No change in the design of laparoscope or manipulator is necessary for its application to surgery assistant robot system. Expanded working space and surgical efficiency were accomplished by implementing slant linking structure between laparoscope and manipulator. To ensure reliable positioning accuracy and controllability, the motion of laparoscope in an abdominal space through trocar was inspected using geometrical analysis. A designed laparoscope manipulating robot system can be easily set up and controlled in an operation room since it has a few subsidiary devices such as a laparoscope light source regulator, a control PC, and a power supply.

• 로봇학회논문지
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• 제15권1호
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• pp.39-47
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• 2020

This paper presents a control and operation system for a remotely operated vehicle (ROV). The ROV used in the study was equipped with a manipulator and is being developed for underwater exploration and autonomous underwater working. Precision position and attitude control ability is essential for underwater operation using a manipulator. For propulsion, the ROV is equipped with eight thrusters, the number of those are more than six degrees-of-freedom. Four of them are in charge of surge, sway, and yaw motion, and the other four are responsible for heave, roll, and pitch motion. Therefore, it is more efficient to integrate the management of the thrusters rather than control them individually. In this paper, a thrust allocation method for thruster management is presented, and the design of a feedback controller using sensor data is described. The software for the ROV operation consists of a robot operating system that can efficiently process data between multiple hardware platforms. Through experimental analysis, the validity of the control system performance was verified.

• 한국정밀공학회지
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• 제9권3호
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• pp.73-82
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• 1992

An industrial robot, installed real manufacturing processes an element of the system autmation, can be considered as an uncertain system due to dynamic uncertainties in inertial parameters and varying payloads. Most difficuties in controlling a robot manipulator are caused by the fact that the dynamic equations describing the motions of the manipulator are inherently nonlinear and heavily coupled effects between joints and associated links. Existing robot conrol systems have constant predefined gains and do not cover the complex dynamic interactions between manipulator joints. As a result, the manipulator is severly limited in range of application, speed of operation and variation of payload. The proposed controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories defined by the desinger. The proposed manipulator studied has two loops, an inner loop of model reference adaptive controller and an outer loop of state feedback controller with integral action to guarantee the stability of the adaptive scheme. This adaptation algorithm is based on the hyperstailiy approach with an improved Lyapunov function. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance in practical working environment, various load variations and parameter uncertainties.

• 한국정밀공학회지
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• 제30권2호
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• pp.185-193
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• 2013

The construction automation provides safer and more productive working environment of construction site. We developed the automation system of bolting operation for high-rise building in the previous research. However, this system has a weak point that the operation has to be processed in the air with the operator in the cabin. This weakness leads operators to considerably dangerous environment. Therefore, we proposed the tele-operation system in order to supplement this weak point. Furthermore, it leads more effective operation by application of more intuitive controller; spherical coordinate based Master Arm than the joystick in the Mobile Bolting Robot system. These proposed system and controller were evaluated based on Fitts' law paradigm, which is a general estimation method of speed accuracy of task. Through the experimental results, new developed tele-operation system is compared with the actual operation and it discloses distinctions between two systems. As a result, it is found that new developed teleoperation system can be possible to replace the operation in the cabin.

• 한국지능시스템학회논문지
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• 제26권1호
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• pp.9-15
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• 2016

본 논문에서는 도서관의 도서 관리 효율을 높이기 위해 도서들이 제 위치를 정상적으로 배치되어 있음을 검증하는 시스템을 제안하고자 한다. 개방형 도서관에서 일반인들이 도서를 열람하고 난 후, 고의 혹은 실수로 인해 제자리에 도서를 꽂아 놓지 않는 경우가 발생한다. 이렇게 되면 소장되어 있는 도서임에도 불구하고 분실도서로 처리되어 다른 사람이 열람하지 못하게 된다. 이와 같은 문제를 해결하기 위해 로봇을 이용하여 서가의 영상을 획득하고, 획득한 영상으로부터 책의 분류정보를 읽어드려서 도서의 위치를 데이터베이스와 비교하여 검증한 다음, 잘못 비치된 도서를 사서에게 알려주는 시스템을 제안한다.

• 한국정밀공학회지
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• 제26권4호
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• pp.82-90
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• 2009

Pneumatic cylinder is one of the low cost actuation sources which have been applied in industrial and prosthetic application since it has a high power/weight ratio, a high-tension force and a long durability However, the control problems of pneumatic systems, oscillatory motion and compliance, have prevented their widespread use in advanced robotics. To overcome these shortcomings, a number of newer pneumatic actuators have been developed such as McKibben Muscle, Rubber Actuator and Pneumatic Artificial Muscle (PAM) Manipulators. In this paper, one solution for position control of a robot arm, which is driven by two pneumatic artificial muscles, is presented. However, some limitations still exist, such as a deterioration of the performance of transient response due to the changes in the external load of the robot arm. To overcome this problem, a switching algorithm of the control parameter using a learning vector quantization neural network (LVQNN) is proposed in this paper. This estimates the external load of the pneumatic artificial muscle manipulator. The effectiveness of the proposed control algorithm is demonstrated through experiments with different external working loads.