• 한국정밀공학회지
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• 제23권11호
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• pp.58-67
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• 2006

Due to the variety of signal processing and complicated mathematical analysis, it is not easy to accomplish 3D bin-picking with non-contact sensor. To solve this difficulties the reliable signal processing algorithm and a good sensing device has been recommended. In this research, 3D laser scanner and CCD camera is applied as a sensing device respectively. With these sensor we develop a two-step bin-picking method and reliable algorithm for the recognition of 3D bin object. In the proposed bin-picking, the problem is reduced to 2D intial recognition with CCD camera at first, and then 3D pose detection with a laser scanner. To get a good movement in the robot base frame, the hand eye calibration between robot's end effector and sensing device should be also carried out. In this paper, we examine auto-calibration technique in the sensor calibration step. A new thinning algorithm and constrained hough transform is also studied for the robustness in the real environment usage. From the experimental results, we could see the robust bin-picking operation under the non-aligned 3D hole object.

• ETRI Journal
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• 제40권4호
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• pp.511-521
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• 2018

The ability to realize human-motion imitation using robots is closely related to developments in the field of artificial intelligence. However, it is not easy to imitate human motions entirely owing to the physical differences between the human body and robots. In this paper, we propose a work chain-based inverse kinematics to enable a robot to imitate the human motion of upper limbs in real time. Two work chains are built on each arm to ensure that there is motion similarity, such as the end effector trajectory and the joint-angle configuration. In addition, a two-phase filter is used to remove the interference and noise, together with a self-collision avoidance scheme to maintain the stability of the robot during the imitation. Experimental results verify the effectiveness of our solution on the humanoid robot Nao-H25 in terms of accuracy and real-time performance.

• 대한기계학회논문집A
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• 제24권4호
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• pp.848-857
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• 2000

A pick-and-place operation in 3-dimensional environment is basic operation for human and multi-purpose manipulators. However, there may be a difficult problem for such manipulators. Especially, if the object cannot be moved with a single grasp, regrasping, which can be a time-consuming process, should be carried out. Regrasping, given initial and final pose of the target object, is a construction of sequential transition of object poses that are compatible with two poses in the point of grasp configuration. This paper presents a novel approach for solving regrasp problem. The approach consists of a preprocessing and a planning stage. Preprocessing, which is done only once for a given robot, generates a look-up table which has information of kinematically feasible task space of end-effector through all the workspace. Then, using the table planning automatically determines possible intermediate location, pose and regrasp sequence leading from the pick-up to put-down grasp. Experiments show that the presented is complete in the total workspace. The regrasp planner was combined with existing path.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 춘계학술대회 논문집
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• pp.567-572
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• 2002

The equipment of industrial robot in manufacturing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS ). We can save much efforts and time in adjusting robots to newly defined workcells by using Off-Line Programming System. A proposed visual calibration scheme is based on position-based visual feedback. The visual calibration system is composed of a personal computer, an image processing board, a video monitor, and one camera. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test, and construction of simple silhouette figures. Then, camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection, which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not require the precise calculation of tree-dimensional object data and image Jacobian.

• 한국생산제조학회지
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• 제22권1호
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• pp.77-84
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• 2013

In this paper, we review two-dimensional measuring methods referring to target patterns. The patterns consist of two linearly-repeated patterns or is designed repeatedly in two-dimension. The repeated properties are reflectivity, refractivity, air-gapping distance, capacitance, magnetic reluctance, electrical resistance and sloping gradient, etc. However, the optical methods are generally used for high speed processing and density, and their encoding principles are treated here. In case of two-dimensional pattern, as there is not inherently error between single units encoding the pattern except for the metrology frame errors, the end-effector position of an object accompanying the pattern can be measured with respect of the global frame without via error. Therefore, it is regarded as a substitute for laser interferometer with severe environmental constraints and has been applied to the high-accurate planar actuator.

• 한국정밀공학회지
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• 제29권1호
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• pp.64-71
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• 2012

In this paper, a parallel manipulator is comprised of two sliders and four links. Sliders execute a linear reciprocating motion depending on parallel guides and make the connected links rotate. A couple of links connected by sliders do coupling motion. The end-effector called a link tip has orientation angle. Through the kinematics analysis of this manipulator, we found displacement, velocity and acceleration using direct and inverse kinematics. We used equations that derived from this analysis and determined five constraint conditions. These conditions had much to do with rotation states of links, the relative relation of link length and coupling motion state. To verify those, we suggest a new algorithm regarding constraint conditions of a manipulator. With the result which performed the algorithm, we found out that operation range of coupled links was limited by relative relation of link length and that manipulator was not able to carry out a series of link motion, in case of being the link vertical between two parallel guides.

• 한국정밀공학회지
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• 제21권1호
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• pp.101-108
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• 2004

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to obtain stable control performance. In this report, we applied disturbance estimation and compensation type robust control to all axes in a 3-link electro-hydraulic manipulator. From the results of experiment, it was confirmed that the performance of trajectory tracking and attitude regulating is greatly improved by the disturbance observer, which model is the same for each axis. On the other hand, for the autonomous assembly tasks, it is said that compliance control is one of the most available methods. Therefore we proposed compliance control which is based on the position control by disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedback, where not only displacement but also velocity and acceleration are considered. And we applied this compliance control to Peg-in-Hole insertion task and analyzed mechanical relation between peg and hole. Also we proposed new method of shifting the position of end-effector periodically for the purpose of smooth insertion. As a result of using this method, it is experimentally confirmed that Peg-in-Hole insertion task with a clearance of 0.05［mm］can be achieved.

• 한국산학기술학회논문지
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• 제12권5호
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• pp.2048-2053
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• 2011

본 논문에서는 도어의 회전운동에 의해서 발생하는 기계에너지를 전기에너지로 변환시켜 에너지를 획득하는 시스템을 제안한다. 에너지를 획득하는 방법으로 2종류의 에너지 하베스터을 논의한다. 첫 번째, 도어의 회전축과 발전장치의 축을 기어장치로 직접 연결하여 발전하는 기어 축결합 에너지 하베스터, 두 번째로는 도어 선단을 발전장치의 스트링으로 연결하여 발전하는 스파이럴스프링 에너지 하베스터이다. 이 2종류의 하베스터를 제작하여 실험을 수행하며, 이 결과를 통해서 제안한 에너지 하베스터의 유효성을 나타낸다.

• 제어로봇시스템학회논문지
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• 제15권11호
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• pp.1122-1129
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• 2009

Recently taping robot with smart recognition function have been studied in the coil manufacturing field. Due to the difficulty of 3D surface processing from the complicated working environment, it is not easy to accomplish smart tape attachment motion with non-contact sensor. To solve these problems the applicable surface recognition algorithm and a flexible sensing device has been recommended. In this research, the fusion method between 1D displacement and 3D laser scanner is applied for robust tape attachment about cold rolled coil. With these sensors we develop a two-step exploration and the smart algorithm for the awareness of non-aligned coil's information. In the proposed robot system for tape attachment, the problem is reduced to coil's radius searching with laser displacement sensor at first, and then position and orientation detection with 3D laser scanner. To get the movement at the robot's base frame, the hand-eye compensation between robot's end effector and sensing device should be also carried out respectively. In this paper, we examine the auto-coordinate transformation method in the calibration step for the real environment usage. From the experimental results, it was shown that the taping motion of robot had a robust under the non-aligned cold rolled coil.

• 한국정밀공학회지
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• 제31권10호
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• pp.897-904
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• 2014

In this paper, two-DOF parallel manipulator has the sliders which execute a linear reciprocating motion depending on parallel guides and the end-effector which can be adjusted arbitrarily. To investigate the dynamic characteristics of the manipulator, the dynamic performance index is used. The index is able to be obtained by the relation between the Jacobian matrix and the inertia matrix. The kinematic and the dynamic analysis find these matrices. Also, the dynamic model of the manipulator is derived from the Lagrange formula. This model represents complicated nonlinear equations of motion. With the simulation results of the dynamic characteristic of the manipulator, we find that the dynamic performance index is based on the selection of the ranges for the continuous movement of the manipulator and the dynamic model derived can be used to the control algorithm development of the manipulator.