• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10a
• /
• pp.332-336
• /
• 1992

We describe about the graphic simulation system 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 presented. First problem is that all the robot motions must be determinded 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. Therefore robot motions can be easily modifiable with the various object motions. This type of motion determination is different from that of the master-slaves method using the master robot motions. The other is that the developments of robot application softwares need a heavy cost when the participated robots or the tasks given to the robots are changed. Based on object-oriented programming paradigm, we present useful software objects describing robot application programming environment. The object-oriented programming paradigm increases the software reusability, reliability, and extensibility, and also provides the structual concepts to cope with the various demands of robot application programming.

• Industrial Engineering and Management Systems
• /
• v.3 no.1
• /
• pp.78-84
• /
• 2004

To optimize movement of a multi-joint robot arm is known to be a difficult problem, because it is a kind of redundant system. Although the end-effector is set its position by each angle of the joints, the angle of each joint cannot be uniquely determined by the position of the end-effector. There exist the infinite number of different sets of joint angles which represent the same position of the end-effector. This paper describes how to manage the angle of each joint to move its end-effector preferably on an X-Y plane with obstacles in the end-effector’s reachable area, and how to optimize the movement of a multi-joint robot arm, evading obstacles. The definition of “preferable” movement depends upon a purpose of robot operation. First, we divide viewpoints of preference into two, 1) the standpoint of the end-effector, and 2) the standpoint of joints. Then, we define multiple objective functions, and formulate it into a multi-objective programming problem. Finally, we solve it using multi-purpose genetic algorithm, and obtain reasonable results. The method described here is possible to add appropriate objective function if necessary for the purpose.

• The Journal of Korea Robotics Society
• /
• v.16 no.4
• /
• pp.319-326
• /
• 2021

To improve the driving performance and work efficiency of the multi-purpose agricultural robot, this paper conducted a study on the turning and steering characteristics of the robot platform according to the characteristics of the working machine coupled to the multi-purpose agricultural robot considering the agricultural environment. First, the size and characteristics of the developed multi-purpose agricultural robot platform and working machine, and the targeted field farming work environment are analyzed. And based on this analysis, the problems that arise in multi-purpose robots with conventional turning methods are quantitatively presented. And to overcome this problem, an improved turning and steering method for multi-purpose agricultural robots is proposed considering the characteristics of various workstations and the agricultural working environment. Finally, by applying the proposed method, the turning characteristics of the multi-purpose agricultural robot according to the working machine are analyzed and the effectiveness of the proposed method is verified.

• Proceedings of the KSME Conference
• /
• 2000.04a
• /
• pp.562-565
• /
• 2000

For solving problems of manpower and improving working environment, Robot System have been introduced. In the past, Robot System was adopted mass production, indoor factory condition, but present Robot System is applied to many other fields. This applied field is Robot System was adopted fruit harvest, maintenance, and so on. The developed Multi-Linked Lifter is applied to eminant multi-purpose working. The purpose of this study is to develop control algorithm for this equipment composed of multi-linked manipulator.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.24 no.10
• /
• pp.163-173
• /
• 2010

In multi-mobile robot environment, path planning and collision avoidance are important issue to perform a given task collaboratively and cooperatively. The proposed approach is based on a potential field method and fuzzy logic system. For a global path planner, potential field method is employed to select proper path of a corresponding robot and fuzzy logic system is utilized to avoid collisions with static or dynamic obstacles around the robot. This process is continued until the corresponding target of each robot is reached. To test this method, several simulation-based experimental results are given. The results show that the path planning and collision avoidance strategies are effective and useful for multi-mobile robot systems.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.2 no.4
• /
• pp.221-226
• /
• 2007

This paper propose a control network system based on IEEE1394 for a multi body robot control. The IEEE1394 has the characteristic of high speed(400Mbps), real-time, stability and plug&play. And IEEE1394 also supports freeform daisy chaining, branching and hot plugging, which reduce cabling complexity and make a system simple. Especially, multi host and broad casting support network data sharing method which is suitable for control network for multi body robot. Through experiment, we show that the proposed control network can interface 48 joints (BLDC motors, gears, and encoders) and four 6-axis force/torque sensors with 4Khz communication bandwidth, which is adequate for a multi body robot.

• Proceedings of the Korean Information Science Society Conference
• /
• 2007.10c
• /
• pp.433-438
• /
• 2007

This paper presents a distance mapping-based localization method with incomplete data which means partially observed data. We make three contributions. First, we propose the use of Multi Dimensional Scaling (MDS) for multi-robot localization. Second, we formulate the problem to accomodate partial observations common in multi-robot settings. We solve the resulting optimization problem using #Scaling by Majorizing a Complicated function (SMACOF)#, a popular algorithm fur iterative MDS. Third, we not only verify the performance of MDS-based multi-robot localization by computer simulations, but also implement a real world localization of multi-robot team. Using extensive empirical results, we show that the accuracy of the proposed method is almost similar to that of Monte Carlo Localization(MCL).

• Journal of Institute of Control, Robotics and Systems
• /
• v.9 no.11
• /
• pp.906-916
• /
• 2003

A multi-robot control algorithm using Petri-Net is proposed for 5vs5 robot soccer. The dynamic environment of robot soccer is modeled by defining the place and transition of each robot and converting it into Petri-Net diagram. Once all the places and transitions of robots are represented by the Petri-Net model, their actions can be chosen according to the roles of robots and position of the ball in soccer game, e.g., offensive, defensive and goalie robot. The proposed modeling method is implemented for soccer robot system. The efficiency and applicability of the proposed multiple-robot control algorithm using Petri-Net are demonstrated through 5vs5 Middle League SimuroSot soccer game.

• Journal of Information Processing Systems
• /
• v.8 no.3
• /
• pp.471-482
• /
• 2012

For disaster exploration and surveillance application, this paper aims to present a novel application of a multi-robot agent based on WSN and to evaluate a multi-hop communication caused by the robotics correspondingly, which are used in the uncertain and unknown subterranean tunnel. A Primary-Scout Multi-Robot System (PS-MRS) was proposed. A chain topology in a subterranean environment was implemented using a trimmed ZigBee2006 protocol stack to build the multi-hop communication network. The ZigBee IC-CC2530 modular circuit was adapted by mounting it on the PS-MRS. A physical experiment based on the strategy of PS-MRS was used in this paper to evaluate the efficiency of multi-hop communication and to realize the delivery of data packets in an unknown and uncertain underground laboratory environment.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.59.5-59
• /
• 2001

Multi-agent robot system is the system which executes by cooperating with each robots and controlling several robots. Capability and function of each robot must be considered for cooperation behavior. Furthermore, it is necessary to analyze the given environment and to replace complex task with some simple tasks. Analysis of the given environment and role assignment for the given tasks are composed of discret event. In this paper, the hierarchical controller for multi-agent robot system using the petri-net state diagram is proposed. The proposed modeling method is implemented for soccer robot system. The effectiveness of proposed modeling method is shown through experiment.