• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.23-28
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• 1987

A Computer Aided Design (CAD) program of robot application engineering has been developed for the efficient examination of HR8000 robot. For the Simulation of robot motion. direct and inverse kinematics of robot manipulator was analyzed and robot motion was visualized. The program could contribute to upgrade accuracy and to minimize the time for the robot application engineering.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.346-349
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• 2004

The teleoperation system applies all of the industrial fields due to the development of the network infrastructure. It is one of the indispensable elements for controlling the robot at a remote sight and monitoring the limit or unknown environment. The common teleoperation robot system is what has the visual module to supply the network system and realistic UI to the existed robot system. Therefore, remarked that the fusion between modules and transmission of visual data the remarked the important element to improve the robot application in the various environments. Delay of development time by robot platform and noneffective communication among developers are also problem to approach. In this paper we propose the independent teleoperation system. The main application language is JAVA in this system, which is applied JAVA API like JNI and JMF to construct the effective teleoperation system. The system has the both side communication system between sever and client as a basic structure. The visual data that is attached the robot at a remote sight is captured by JMF API and then is transmitted to the web browser called client by RTR protocol. JNI is used to connect between JAVA and the lower part application (sensor fusion, motion control.) of the robot programmed by various Native languages. The proposed system is the application that can perform the elements, for instance transmission of visual data, the fusion of various native application modules and the effective network communication, with any platform.

• 제어로봇시스템학회논문지
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• 제10권12호
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• pp.1264-1270
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• 2004

In this paper, a standard robot design methodology is suggested and a software architecture for modular robot is introduced. The robot is modularized by several functions, and the module is produced according to a standard proposal. Each module requires standard interface for communicate in distributed environments. Software architecture was developed to support distributed component environment, and application development support tools are developed for user convenience. Many robot softwares are developed in a library form so that, they are being used widely robot application software development. Also a device driver was developed for the mostly used sensor and actuator. It is verified that the modular robot can be applied in various fields through guide, errand and guard scenario.

• 로봇학회논문지
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• 제17권2호
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• pp.103-109
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• 2022

The purpose of this study is to ethical review on the development and service with care assistance robot. An integrative review concept analysis method was used. We analyzed the classification and role of service robots, the concept of the robot ethic and the care ethic. And there were derived the development and service about care assistance robot in ethical viewpoint. For improving current care problem, government had support to developing four types care assistance robots. But there were provided carefully care service due to the limitations of robot technology and lack of overall social awareness with care robot. In addition, in order to be successfully application in the field, care assistance robots were developed to provide high-quality care service that can consider to personal culture and living environment with the development of artificial intelligence and robot technology, as well as ethical care service.

• Composites Research
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• 제31권5호
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• pp.227-237
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• 2018

본 논문에서는 밀폐/협소의 공간에 적용을 위한 이동형 용접 로봇의 매니퓰레이터의 경량화 및 단열 성능 확보를 위한 설계 적용 연구 내용을 나타내었다. 선박 및 해양플랜트와 같이 구조가 복합하고 협소한 공간에 대한 용접 작업을 위하여 용접사를 작업 대상물 외부에서 용접로봇을 이용한 용접작업을 위하여 다양한 로봇 플랫폼이 개발되고 있다. 일반적인 로봇의 개발 과정은 적용 환경과 요구조건을 고려하여 기계 개발, 전자 장치 개발, 제어 알고리즘 개발 및 통합 검증으로 이루어 진다. 용접로봇의 완성도 높은 개발을 위하여 로봇 플랫폼의 기본 설계에서 환경 조건을 고려한 로봇 매니퓰레이터의 경량 설계를 수행하였다. 또한, 단열성능 및 냉각 성능 확보를 위한 소재 선정과 검증, 해석 및 시험의 과정을 거처 개발된 로봇과 연구 결과를 나타내었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.756-760
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• 2005

By development of a robot technology, personal robot is being developed very actively. Various infra-technologies are accumulated in hardware and software how by internal a lot of research and development efforts, and it is circumstance that actual commodity is announced. But, personal robot is applied to be acting near human, and takes charge of safety and connected directly a lot of works of home security, gas-leakage, fire-warning facilities, or/and etc. So personal robot must do safe and stable action even if any unexpected accidents are happened, important functions are always operated. In this paper, we are wished to show design structures for supporting fault-tolerant operation from our real-time robot middleware viewpoint. Personal robot, in being developed, was designed by module structure to do to interconnect and to interoperate among each module that is mutually implemented by each research facilities or company. Also, each modules can use appreciate network system that is fit for handling and communicating its data. To guarantee this, we have being developed a real-time network middleware, for especially personal robot. Recent our working is to add and to adjust some functions like connection management, distributed routing mechanism, remote object management, and making platform independent robot application execution environment with self-moving of robot application, for fault-tolerant personal robot.

• 제어로봇시스템학회논문지
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• 제20권2호
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• pp.223-231
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• 2014

Humanoid robot is the most suitable robot platform for effective human interaction and various intelligent services. The present work addresses development of real time wireless control application of humanoid robot's forward and backward walks, and turning in walking. For convenience of human users, the application is developed on Android OS (Operating System) working on his or her smartphone. To this end, theoretic background on various-directional biped walking is proposed based on joint trajectories for forward walking, which have been shaped with a global optimization method. In this paper, backward walking is scheduled by interchange of angles and angular velocities and additional change of signs in angular velocities at all the via-points connecting cubic polynomial trajectories. Turning direction in walking is also implemented by activating the transversal hip joint initially located in the support leg in two stages. After validation of the proposed walking schemes with Matlab simulator, a smartphone application for the omnidirectional walking has been developed to control a humanoid robot platform named DARwIn-OP interconnected via Wi-Fi. Experiment result of the present wireless control of a humanoid robot with smartphone is successful, and the application will be released in application market near future.

• 한국정보통신학회논문지
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• 제13권9호
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• pp.1964-1972
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• 2009

본 논문은 4족 보행로봇 및 MSRS를 이용한 분산 웹 환경 로봇 서비스 개발환경을 제안하였다. 로봇 서비스 개발 환경은 고수준의 복잡한 로봇어플리케이션이 분산 웹 환경에서 동작 가능하게 하기 위하여, 마이크로소프트사의 MSRS를 이용해 로봇 기능들을 네트워크 노드에서 실행되는 서비스들로 구현하였다. 제안된 개발환경은 4족 보행 로봇인 제니보를 로봇플랫폼으로 선정하여 구현되어 졌다. 실험을 통해 개발된 로봇 서비스들은 분산 웹 환경 하에서 동적인 실행, 구성 및 원격 모니터링이 가능함을 보여주었다. 또한 개발된 로봇 서비스들을 복잡한 로봇어플리케이션을 쉽게 제작할 수 있도록 하는 비주얼프로그램 언어에서 사용하여 응용어플리케이션을 제작해 그 가능성을 검증하였다.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1997년도 추계학술대회 논문집
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• pp.48-53
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• 1997

The objective of this paper is to present the development and application of interface software between robot and F/T sensor for force control. The interface software for among the robot controller, F/T sensor, and host PC is based on interrupt-driven method. To show the suitability of developed interface software, writing-task is performed in real time using F/T sensor that mounts on the wrist of the robot and Scara type 4-axis robot.

• 정보교육학회논문지
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• 제18권4호
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• pp.615-624
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• 2014

마트 기기의 급속한 발전과 보급에 따라 사회가 크게 변화되고 있으며, SW교육의 중요성이 부각되고 있다. 학습자들 또한 모바일 앱 프로그래밍에 대한 관심이 매우 높다. 한편 프로그래밍 교육에서 로봇의 활용은 흥미유발, 동기부여, 참여도, 성취도 제고의 측면에서 효과가 있는 것으로 연구 결과가 발표되고 있다. 이에 본 연구에서는 SW 교육을 위한 로봇과 앱 개발 도구 활용 프로그래밍 교육 방안을 개발하고 적용하였다. 그리고 수업, 로봇, 앱 인벤터, 로봇과 앱 인벤터의 연동 등의 네 가지 영역으로 구분하여 설문조사를 실시하였다. 그 결과 네가지 영역에서 공통적으로 흥미, 만족에 대한 학습자의 반응이 매우 긍정적이었다. 학습자들은 스마트 폰을 사용하여 프로그래밍 결과를 즉각 확인할 수 있고, 특히 스마트폰으로 로봇을 제어할 수 있다는 점이 학습자의 흥미를 높이는 점으로 분석되었다. 결론적으로 본 연구에서 개발한 로봇과 앱 개발 도구 활용 프로그래밍 교육 방안은 유용성이 있다고 볼 수 있다.