• Journal of Korea Society of Digital Industry and Information Management
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• v.5 no.3
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• pp.39-45
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• 2009

In this paper we present a cleaning robot system for an autonomous mobile robot. Our robot performs goal reaching tasks into unknown indoor environments by using sensor fusion. The robot's operation objective is to clean floor or any other applicable surface and to build a map of the surrounding environment for some further purpose such as finding the shortest path available. Using its cleaning robot system for an autonomous mobile robot can move in various modes and perform dexterous tasks. Performance of the cleaning robot system is better than a fixed base redundant robot in avoiding singularity and obstacle. Sensor fusion using the clean robot improves the performance of the robot with redundant freedom in workspace and Map-Building. In this paper, Map-building of the cleaning robot has been studied using sensor fusion. A sequence of this alternating task execution scheme enables the clean robot to execute various tasks efficiently. The proposed algorithm is experimentally verified and discussed with a cleaning robot, KCCR.

• 전자공학회논문지 IE
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• v.45 no.2
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• pp.28-33
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• 2008

The paper is represented active robot soccer system using humanoid. many robot we implement the control method of several robot and the algorithm of robot soccer system. the position and direction of the robot is recognized quickly using color tag on the shoulder of robot and special personal computer. Humanoid robot soccer system in this paper develops better in existent wheel-driven soccer robot. Forward, through a lot of studies, self-moving soccer game like human with humanoid is possible.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.76-76
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• 2000

The calibration of the robot system with a visual sensor consists of robot, hand-to-eye, and sensor calibration. This paper describe a new technique for computing 3D position and orientation of a 3D sensor system relative to the end effect of a robot manipulator in an eye-on-hand robot configuration. When the 3D coordinates of the feature points at each robot movement and the relative robot motion between two robot movements are known, a homogeneous equation of the form AX : XB is derived. To solve for X uniquely, it is necessary to make two robot arm movements and form a system of two equation of the form: A$_1$X : XB$_1$ and A$_2$X = XB$_2$. A closed-form solution to this system of equations is developed and the constraints for solution existence are described in detail. Test results through a series of simulation show that this technique is simple, efficient, and accurate fur hand/eye calibration.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.6
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• pp.599-605
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• 2014

This paper presents the interactive behavior modeling method based on POMDP (Partially Observable Markov Decision Process) for HRI (Human-Robot Interaction). HRI seems similar to conversational interaction in point of interaction between human and a robot. The POMDP has been popularly used in conversational interaction system. The POMDP can efficiently handle uncertainty of observable variables in conversational interaction system. In this paper, the input variables of the proposed conversational HRI system in POMDP are the input information of sensors and the log of used service. The output variables of system are the name of robot behaviors. The robot behavior presents the motion occurred from LED, LCD, Motor, sound. The suggested conversational POMDP-based HRI system was applied to an emotional robot KIBOT. In the result of human-KIBOT interaction, this system shows the flexible robot behavior in real world.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.966-970
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• 2005

A Robot Performance Evaluation System(RPES) Program with auto extraction algorism was developed according to the ISO 9283 robot performance criteria. The developed program looks for order point automatically in data that get laser measurement Instrument and estimate performance of robot using this order point. In addition, this program estimates Each Joint Motion of robot. Robot Performance Evaluation System(RPES) Software was developed with Visual Basic satisfying the need of Hyundai Motor Company. The developed system was implemented on NACHI 8608 AM 11 robot. The resulted output shows the effectiveness of the developed system.

• Laser Solutions
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• v.11 no.4
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• pp.21-28
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• 2008

Remote Laser welding technology for manufacturing automotive body is studied. Laser welding and industrial robot systems are used for the robot based laser welding system. The laser system is used 1.6kW Fiber laser(YLR-1600) of IPG. The robot system is used HX130-02 of Hyundai Heavy Industry(payload : 130kg). The robot based laser welding system is equipped with laser scanner system for remote laser welding. The welding joints of steel plate and steel plate coated with zinc are butt and lapped joints. The quality test of the laser welding are through the observation the shape of bead on plate and cross-section of welding part. During past three years the laser system, 4kW Nd:YAG laser (HL4006D) of Trumpf was used and the robot system, IRB6400R of ABB (payload:120kg) was used. The new laser source, robot and laser scanner system are used to increase the processing speed and to improve the process efficiency. This paper introduces the robot based remote laser welding system to resolve the limited welding speed and accuracy of the conventional laser welding system.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.4
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• pp.1023-1032
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• 1995

The multiple cooperating robot system plays an important role in the research of modern manufacturing system as the emphasis of production automation is more on the side of flexibility than before. While the kinematic and dynamic analysis of a single robot is performed as an open-loop chain, the dynamic formulation of robot in a multiple cooperating robot system differs from that of a single robot when the multiple cooperating robots form a closed kinematic chain holding an object simultaneously. The object may be any type from a rigid body to a multi-joint linkage. The mobility of the system depends on the kinematic configuration of the closed kinematic chain formed by robots and object, which also decides the number of independent input parameters. Since the mobility is not the same as the number of robot joints, proper constraint condition is sought. The constraints may be such that : the number of active robot joints is kept the same as mobility, all robot joints are active and have interrelations between each joint forces/torques, two robots have master-slave relation, or so on. The dynamic formulation of system is obtained. The formulation is based on recursive dual-number screw-calculus Newton-Eulerian approach which has been used for single robot analysis. This new scheme is recursive and compact symbolically and may facilitate the consideration of the object in real time.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.5
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• pp.712-717
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• 2007

Using home network system including home server, home service robot, a variety of device, it is generally known that application of Multi Agent System for performing variously distributed process that can be occur in home environment, is efficient method. In this system, it is intelligent service robot that a key of human interface and physical service offer Therefore, using application of established multi agent system, we can defined Multi Agent Robot System. In 'open' home environment, between all agent data interaction and cooperation are needed for Multi Agent System offer to user that more efficient service. For this, we focus our attention on define as agent that can autonomic drive and offer to user that physical service robots and, design, suggest the simulator can display that between robot agents communication or between other agents, like home server, and robot agents communication information to user interface.

• Journal of Biomedical Engineering Research
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• v.30 no.4
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• pp.271-278
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• 2009

Recently, robot research and development was interesting the inside and outside of the country. Medical robot surgery showed diverse advantages according to advanced technical robot research. Also the academic society, research institute and industry showed concerning to the medical robot system. There is a growing need to introduce medical research for aging society. The surgical landscape is quickly changing because of the major driving force of robotics. Robot system and biomedical engineering research as defined a new engine of development show present ways of future revitalization of medical robot system. Medical robot system will be even more utilized when we keeps trying to combine high biomedical technique, IT research, and robot technique. In this review article, we begin with a short historical review of medical robotics, followed by an overview of clinical applications where robots have been applied.

• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.381-385
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• 1992

In this paper, dynamic modeling and adaptive control problems for a space robot system are discussed. The space robot consist of a robot manipulator mounted on a free-floating base where no attitude control is applied. Using an extended robot model, the entire space robot can be viewed as an under-actuated robot system. Based on nonlinear control theory, the extended space robot model can then be decomposed into two subsystems: one is input-output exactly linearizable, and the other is unlinearizable and represents an internal dynamics. With this decomposition, a normal form-augmentation approach and an augmented state-feedback control are proposed to facilitate the design of adaptive control for the space robot system against parameter uncertainty, unknown dynamics and unmodeled payload in space applications. We demonstrate that under certain conditions, the entire space robot can be represented as a full-actuated robot system to avoid the inclusion of internal dynamics. Based on the dynamic model, we propose an adaptive control scheme using Cartesian space representation and demonstrate its validity and design procedure by a simulation study.