• Journal of the Korean Society of Industry Convergence
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• v.21 no.2
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• pp.53-62
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• 2018

This study propose a new approach to control the optimal working path of vertical type articulated robot with translation joint for trimming working process automation in forging manufacturing process. The basic structure of the proposed robotic joints controller consists of a Proportional-Intergral controller and a Proportional-Derivative controller in parallel. The proposed control scheme takes advantage of the properties of the fuzzy PID controllers. The proposed method is suitable to control of the trajectory and path control in cartesian space for vertical type articulated robot manipulator. The results illustrates that the proposed fuzzy computed torque controller is more stable and robust than the conventional computed torque controller. The reliability is varified by simulation test for vertical type s articulated robot with seven joints including one trqanslation joint.

• The KIPS Transactions:PartA
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• v.17A no.5
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• pp.249-258
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• 2010

The utilization of robot application is growing up in recent years, but there is a constraint to execute various application on the robot because of difference of robot resource. This paper presents the framework in order to solve the resource constraint by sharing resources with other devices near by robot. The framework defines common factors that are needed to collaboration work and provides APIs in order to implement robot application easily. Furthermore, We show the working flow of framework with physical training application using robot by example. The application shows how to collaborated work between robot and other devices through network.

• Proceedings of the KWS Conference
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• 2002.10a
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• pp.412-417
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• 2002

In manufacturing of ships, problems to be solved are improvement of productivity and stabilization of quality due to the shortage of skilled workers. Working environment, in particular welding environment, is also to be improved. One solution among these problems is to rationalize and automate these working. This paper is focused on the welding automation technologies in shipbuilding industry. The features of shipbuilding in the aspect of automation are described, and the main welding robot systems to be developed by SRI are introduced in each working stages.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.4
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• pp.433-440
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• 2012

Various studies to improve the physical abilities of the human have been steadily continued from the past to the present. Only recently such technology has been realized, and those are expected to replace or complement human beings in large part. In this paper, the current status of developed wearable robots is investigated and studies were conducted in order to apply the types of robots in industry spot. In order to apply wearable exoskeleton robot to industry which enhances human physical capability, driving range of the robot's degrees of freedom were selected by analyzing working motion, and augmentative exoskeleton structure design process is presented by analyzing require torque and power during selected working motion. At the end of this paper, the designed mock-up is introduced to validate the feasibility of designed robot.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.3 s.96
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• pp.164-173
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• 1999

Robot calibration needs accurate measurements of robot end-effector position at a number of different robot configurations. One of the efficient ways of the measurement is "Touching on Jig" method suggested in [7], which utilizes a touch sensor and a fixture consisting of various sizes of blocks. By moving the end-effector to touch the surface of a block whose position relative to the other is known, the end-effector position relative to the fixture coordinate system can be obtained at the instant of touching. However, the global size of fixture is too small to cover the various configurations of the robot. Because of the manufacturing difficulties, the fixture cannot be manufactured large enough for well distributed position measurement. It results in the improvement of robot accuracy only in the limited space near to the fixture rather than over the whole space of the robot working volume. The paper proposes a method to resolve the above problem by measuring the end-effector positions with respect to several different coordinate system using the same measurement devices. It is found that the proposed method leads the improvements of robot position accuracy over the large space of working volume. The experimental studies are performed to show the validity of the method and their results are discussed.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1488-1491
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• 1996

Throughout CGL(Continuous Galvanizing Line) in steel works, zinc-coated steel sheets are produced which are used where long-running corrosion resistivity is required. During the galvanizing process, top dross is created and floated on the zinc pot. Because the dross leaves ill patterns on the coated sheets, it is removed manually with shovel-like tools in about twenty minutes. Because, however, the working environment is very noisy, hot and harmful to human workers, a robot system is developed and implemented on a real plant to automatically remove the top dross. It consists of a robot and its carriage system, a pot level sensor, a system controller, and special tools to collect, pick up, and put the top dross into a dross waste basket. A system software is developed to monitor the system status. A series of tests were performed to verify the robot motion and adaptation to working conditions, and proved successful work.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.132.4-132
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• 2001

Field robot represented by excavator can be applied for various kinds of working in manufacturing, construction, agriculture etc. because of the flexibility of its multi-joint mechanism and the high power of hydraulic actuators. In general, the dynamics of field robot have strong coupling, various kinds of non-linearity, and time varying parameters according to working conditions. Therefore, it is very difficult to describe the system well, and design controller systematically based on its model. This paper established the mathematical model of field robot driven by electro-hydraulic servomechanism and constructed the adaptive control system robust to external load variations. The proposed control system for the field robot was evaluated by the computer simulation, and the performance results of trajectory tracking were compared with that of PID control system.

• Proceedings of the KIPE Conference
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• 2007.07a
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• pp.455-457
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• 2007

The objective of this study is development of a installed working robot for a troy cable with mobile and tension system. In this paper, an approach to designing controllers for dynamic hybrid Tension/Mobile control of a installed robot for a troy wire cable is presented. Mobile control system of robot is designed based on equation of dc motor and motion for moving robot and tension control system is designed based on equation of ac servomotor for generating torque and dynamic equation of a wire cable. The control parameters is determined by simulation in independence operation of two system.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2660-2664
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• 2003

In this study, the concept of autonomous mobility is applied to a medical service robot. The aim of the development of the service robot is for the elderly assisting walking rehabilitation. This study aims that the service robot design parameter is proposed in ergonomic view. The walking assistant path pattern is derived from analyzing the elderly gait analysis. A lever is installed in the AMR in order to measure the pulling force and the leading force of the elderly. A lever mechanism is applied for walking assistant service of the AMR. This lever is designed for measuring the leading force of the elderly. The elderly adjusts the velocity of the robot by applying force to the lever. The action scope and the service mechanism of the robot are developed for considering and analyzing the elderly action patterns. The ergonomic design parameters, that is, dimensions, action scope and working space are determined based on the elderly moving scope. The gait information is acquired by measuring the guide lever force by load cells and working pattern by the electromyography signal.

• IEIE Transactions on Smart Processing and Computing
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• v.5 no.3
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• pp.215-221
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• 2016

This paper describes an automatic vowel sequence reproduction system for a talking robot built to reproduce the human voice based on the working behavior of the human articulatory system. A sound analysis system is developed to record a sentence spoken by a human (mainly vowel sequences in the Japanese language) and to then analyze that sentence to give the correct command packet so the talking robot can repeat it. An algorithm based on a short-time energy method is developed to separate and count sound phonemes. A matching template using partial correlation coefficients (PARCOR) is applied to detect a voice in the talking robot's database similar to the spoken voice. Combining the sound separation and counting the result with the detection of vowels in human speech, the talking robot can reproduce a vowel sequence similar to the one spoken by the human. Two tests to verify the working behavior of the robot are performed. The results of the tests indicate that the robot can repeat a sequence of vowels spoken by a human with an average success rate of more than 60%.