• Title/Summary/Keyword: multi-robot

Search Result 799, Processing Time 0.025 seconds

Shock Response Analysis of Guard Robot Considering the Elastic Effect (탄성 효과를 고려한 감시 로봇 모델의 충격 응답 해석)

  • Kim, Jung-Chan;Jeong, W.B.
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
    • /
    • 2006.11a
    • /
    • pp.107-110
    • /
    • 2006
  • In this paper, shock response analysis considering the elastic effects of guard robot is performed using computer simulations when a machine gun of guard robot fires a shot continuously. The bodies of guard robot are modelled in flexible multi-body. The results of its analysis is compared with results of rigid bodies. The tools of computer simulation is used in Multi-body dynamics program.

  • PDF

Contruction of Simulator for Cooperative Multi-Robot Motions (다중로보트의 동작결정을 위한 시뮬레이터 구성)

  • 김진걸;김정찬
    • The Journal of Korean Institute of Communications and Information Sciences
    • /
    • v.17 no.8
    • /
    • pp.856-866
    • /
    • 1992
  • In this paper, the graphic simulation system Is presented which supports the determination of efficient multi-robot motions during cooperation. For the construction of the simulation software for multi robot motions, two problems are described. First problem is that all the robot motions must be determined using both the desired object motions and the holonomic constraints with the object. To find the robot motions combined with the various object motion path, the robot motions are derived from the desired object path instead of a master robot path. There ore, robot motions can be easily modifiable with #he various object motions. This type of motion determination Is different from that of the master-slaves method using the master robot motions.

  • PDF

Implementing Dynamic Obstacle Avoidance of Autonomous Multi-Mobile Robot System (자율 다개체 모바일 로봇 시스템의 동적 장애물 회피 구현)

  • Kim, Dong W.;Yi, Cho-Ho
    • Journal of the Korea Society of Computer and Information
    • /
    • v.18 no.1
    • /
    • pp.11-19
    • /
    • 2013
  • For an autonomous multi-mobile robot system, path planning and collision avoidance are important functions used to perform a given task collaboratively and cooperatively. This study considers these important and challenging problems. The proposed approach is based on a potential field method and fuzzy logic system. First, a global path planner selects the paths of the robots that minimize the cost function from each robot to its own target using a potential field. Then, a local path planner modifies the path and orientation from the global planner to avoid collisions with static and dynamic obstacles using a fuzzy logic system. In this paper, each robot independently selects its destination and considers other robots as dynamic obstacles, and there is no need to predict the motion of obstacles. This process continues until the corresponding target of each robot is found. To test this method, an autonomous multi-mobile robot simulator (AMMRS) is developed, and both simulation-based and experimental results are given. The results show that the path planning and collision avoidance strategies are effective and useful for multi-mobile robot systems.

Teleloperation of Field Mobile Manipulator with Wearable Haptic-based Multi-Modal User Interface and Its Application to Explosive Ordnance Disposal

  • Ryu Dongseok;Hwang Chang-Soon;Kang Sungchul;Kim Munsang;Song Jae-Bok
    • Journal of Mechanical Science and Technology
    • /
    • v.19 no.10
    • /
    • pp.1864-1874
    • /
    • 2005
  • This paper describes a wearable multi-modal user interface design and its implementation for a teleoperated field robot system. Recently some teleoperated field robots are employed for hazard environment applications (e.g. rescue, explosive ordnance disposal, security). To complete these missions in outdoor environment, the robot system must have appropriate functions, accuracy and reliability. However, the more functions it has, the more difficulties occur in operation of the functions. To cope up with this problem, an effective user interface should be developed. Furthermore, the user interface is needed to be wearable for portability and prompt action. This research starts at the question: how to teleoperate the complicated slave robot easily. The main challenge is to make a simple and intuitive user interface with a wearable shape and size. This research provides multi-modalities such as visual, auditory and haptic sense. It enables an operator to control every functions of a field robot more intuitively. As a result, an EOD (explosive ordnance disposal) demonstration is conducted to verify the validity of the proposed wearable multi-modal user interface.

Safe Speed Limit of Robot Arm During Teaching and Maintenance Work (로보트 교시.정비작업시의 안전속도한계)

  • 김동하;임현교
    • Journal of the Korean Society of Safety
    • /
    • v.8 no.1
    • /
    • pp.64-70
    • /
    • 1993
  • Serious injuries and deaths due to multi-jointed robot occur when a man mispercepts. especially during robot teaching and maintenance work. Since industrial robots often operate with unpredictable motion patterns, establishment of safe speed limit of robot arm is indispensable. An experimental emergency conditions were simulated with a multi-jointed robot. and response characteristics of human operators were measured. The result showed that failure type, robot arm axis. and robot arm speed had significant effects on human reaction time. The reaction time was slightly increased with robot arm speed. though it showed somewhat different pattern owing to failure type. Furthermore the reaction time to the axis which could flex or extend. acting on a workpiece directly. was fastest and its standard deviation was small. The robot arm speed limit securing a‘possible contact zone’based on overrun distance was about 25cm/sec. and in this sense the validity of safe speed limits suggested by many precedent researchers were discussed.

  • PDF

Multi-modal Sensor System and Database for Human Detection and Activity Learning of Robot in Outdoor (실외에서 로봇의 인간 탐지 및 행위 학습을 위한 멀티모달센서 시스템 및 데이터베이스 구축)

  • Uhm, Taeyoung;Park, Jeong-Woo;Lee, Jong-Deuk;Bae, Gi-Deok;Choi, Young-Ho
    • Journal of Korea Multimedia Society
    • /
    • v.21 no.12
    • /
    • pp.1459-1466
    • /
    • 2018
  • Robots which detect human and recognize action are important factors for human interaction, and many researches have been conducted. Recently, deep learning technology has developed and learning based robot's technology is a major research area. These studies require a database to learn and evaluate for intelligent human perception. In this paper, we propose a multi-modal sensor-based image database condition considering the security task by analyzing the image database to detect the person in the outdoor environment and to recognize the behavior during the running of the robot.

Centralized, Distributed, Hybrid Task Planning Framework for Multi-Robot System in Diverse Communication Status

  • Moon, Jiyoun
    • Journal of Positioning, Navigation, and Timing
    • /
    • v.10 no.3
    • /
    • pp.215-220
    • /
    • 2021
  • As the role of robots expands, flexible task planning methods are attracting attention from various domains. Many task planning frameworks are introduced to efficiently work in a wide range of areas. In order to work well in a broad region with multiple robots, various communication conditions should be controlled by task planning frameworks. However, few methods are proposed. In this paper, we propose mission planning methods according to the communication status of robots. The proposed method was verified through experiments assuming different communication states with a multi-robot system.