• 제어로봇시스템학회논문지
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• 제10권12호
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• pp.1233-1240
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• 2004

Recently the need for cooperative control among robots is increasing in a variety of industrial robot applications. Such a control framework enhances the efficiency of the real robotic assembly environment along with extending the robot application. In this paper, an ethernet-based cooperative control framework was proposed. The cooperative control of robots can multiply the handling capacity of robot system, and make it possible to implement jigless cooperation, due to realization of trajectory-synchronized movement between a master robot and slave robots. Coordinate transformation was used to relate among robots in a common coordinate. An optimized ethernet protocol of HiNet was developed to maximize the speed of communication and to minimize the error of synchronous movement. The proposed algorithm and optimization of network protocol was tested in several class of robots.

• 대한산업공학회지
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• 제22권3호
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• pp.499-515
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• 1996

The basic function of on industrial robot system is to move objects in the workspace fast and accurately. One difficulty in performing this function is that the path of robot should be programmed to avoid the collision with obstacles, that is, tools, or facilities. This path planning requires much off-line programming time. In this study, a SOM technique to find the collision-free path of robot in real time is developed. That is, the collision-free map is obtained through SOM learning and a collision-free path is found using the map in real time during the robot operation. A learning procedure to obtain the map and an algorithm to find a short path using the map is developed and simulated. Finally, a path smoothing method to stabilize the motion of robot is suggested.

• 제어로봇시스템학회논문지
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• 제16권1호
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• pp.53-60
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• 2010

We propose a motion planning method for autonomous mobile robots. In order to minimize traveling time, a smooth path and a time optimal velocity profile should be generated under kinematic and dynamic constraints. In this paper, we develop an effective and practical method to generate a good solution with lower computation time. The initial path is obtained from voronoi diagram by Dijkstra's algorithm. Then the path is improved by changing the graph and path simultaneously. We apply the dynamic programming algorithm into the stage of improvement. Simulation results are presented to verify the performance of the proposed method.

• Nuclear Engineering and Technology
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• 제56권5호
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• pp.1913-1924
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• 2024

This paper presents the design and operation of an autonomous robot for pyroprocess automation, which requires unique approaches beyond those used in industrial applications to achieve the desired performance. Maintaining an extremely dry atmosphere is crucial to handle various materials, including chloride, and an autonomous system ensures this dry environment. The drying room dehumidifier was carefully selected and designed to generate dry air, and different types of dry air conditioning performance were evaluated, including assessing worker accessibility inside the mock-up to determine the system's feasibility. Containers used for process materials were modified to fit the gripper system of the gantry robot for automation. The loading and unloading of process materials in each equipment were automatically performed to connect the process equipment with the robotic system. The gantry robot primarily operated through macro motion to approach waypoints containing process materials, eliminating the need for precise approach motion. The robot's tapered jaw design allowed it to grasp the target object even with imperfect positioning. Robot motions were programmed using a robot simulator for initial positioning and motion planning, and real accuracy was tested in a mock-up facility using the OPC platform.

• 대한전기학회논문지:시스템및제어부문D
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• 제51권5호
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• pp.182-189
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• 2002

This paper presents a framework of hybrid dynamic control systems for the motion control of wheeled mobile robot systems with nonholonomic constraints. The hybrid control system has the 3-layered hierarchical structure: digital automata for the higher process, mobile robot system for the lower process, and the interface as the interaction process between the continuous dynamics and the discrete dynamics. In the hybrid control architecture of mobile robot, the continuous dynamics of mobile robots are modeled by the switched systems. The abstract model and digital automata for the motion control are developed. In high level, the discrete states are defined by using the sensor-based search windows and the reference motions of a mobile robot in low level are specified in the abstracted motions. The mobile robots can perform both the motion planning and autonomous maneuvering with obstacle avoidance in indoor navigation problem. Simulation and experimental results show that hybrid system approach is an effective method for the autonomous maneuvering in indoor environments

• 로봇학회논문지
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• 제1권2호
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• pp.188-196
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• 2006

During the communication and interaction with a human using motions or gestures, a humanoid robot needs not only to look like a human but also to behave like a human to make sure the meanings of the motions or gestures. Among various human-like behaviors, arm motions of the humanoid robot are essential for the communication with people through motions. In this work, a mathematical representation for characterizing human arm motions is first proposed. The human arm motions are characterized by the elbow elevation angle which is determined using the position and orientation of human hands. That representation is mathematically obtained using an approximation tool, Response Surface Method (RSM). Then a method to generate human-like arm motions in real time using the proposed representation is presented. The proposed method was evaluated to generate human-like arm motions when the humanoid robot was asked to move its arms from a point to another point including the rotation of its hand. The example motion was performed using the KIST humanoid robot, MAHRU.

• 한국멀티미디어학회:학술대회논문집
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• 한국멀티미디어학회 2001년도 추계학술발표논문집
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• pp.890-895
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• 2001

In this paper, we address on the problem of automatic scheduling and motion generation of multiple mobile robots fur collecting material parts. We propose a model and so]union algorithm for the system. The formulated problem is divided into two kinds of problems; assignment problem and planning problem of robot motion. In this paper, several approaches to solution methods are presented and compared through computer simulation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 하계학술대회 논문집 B
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• pp.403-405
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• 1997

In this paper, a navigation system based on fuzzy logic controllers is developed for a mobile robot in an unknown environment. The structure of this fuzzy navigation system features sensor system, fuzzy controllers for motion planning and the motion control system for real-time execution.

• 제어로봇시스템학회논문지
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• 제17권2호
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• pp.108-115
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• 2011

This paper describes a new sensor system for mobile robot motion estimation using stereo infrared light sources and a camera. Visibility is being applied to robotic obstacle avoidance path planning and localization. Using simple visibility computation, the environment is partitioned into many visibility sectors. Based on the recognized edges, the sector a robot belongs to is identified and this greatly reduces the search area for localization. Geometric modeling of the vision system enables the estimation of the characteristic pixel position with respect to the robot movement. Finite difference analysis is used for incremental movement and the error sources are investigated. With two characteristic points in the image such as vertices, the robot position and orientation are successfully estimated.

• 전자공학회논문지T
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• 제35T권3호
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• pp.67-75
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• 1998

이 논문은 이동 장애물 회피를 위한 새로운 로봇 동작 계획을 제안한다. 이동 장애물의 운동성을 고려하여, 로봇과 장애물 사이의 관계를 위해 가상거리 함수를 정의한다. 각각의 샘플링 시간에, 장애물의 움직임을 고려한 인공 전위계를 구성하기 위해 가상거리 함수를 이용한다. 로봇은 인공 전위 함수에 의해 유도된 인력과 척력 벡터에 따라 이동한다. 제안된 알고리즘은 실시간으로 이동 장애물을 회피할 수 있었다. 시뮬레이션 결과를 통해 제안된 알고리즘의 효율성을 입증한다.