• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.456-458
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• 2004

Recent medical robot systems perform surgery operations, by following the preplanned trajectory and surgical procedures. Depending on the complexity of surgery operations, they are operated in manual, semi-automatic or full automatic mode. To improve the performance of those medical robot systems, development of the simulator and more advanced auto-illumination system, in which intensity of light, direction and focal point can be controlled automatically according to the varied environments during surgical operations. are required. Therefore, in this paper, the simulator for SPINEBOT system which is a computer-intergrated robotic surgery system are developed. And further, an auto-illumination system which will be integrated to the SPINEBOT system is investigated and its preliminary design is described.

• 한국산업융합학회 논문집
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• 제23권2_1호
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• pp.149-161
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• 2020

We describe a new approach to implement of trajectory control and track record of articulated manipulator based on monitoring simulator for smart factory. The learning control algorithm was applied in implementation real-time control to provide enhanced motion control performance for robotic manipulators. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, or values of manipulator parameters and payload. Performance of the proposed controller is illustrated by simulation and experimental results for robot manipulator consisting of six joints at the joint space and Cartesian space.by monitoring simulator.

• 한국전자통신학회논문지
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• 제7권1호
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• pp.187-194
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• 2012

본 논문에서는 이동 로봇이 자율주행을 하기 위해 사용되는 충돌회피 알고리즘을 실제 로봇과 똑같은 환경에 적용된 시뮬레이터를 통해 성능을 알아본다. 이동 로봇의 충돌회피를 위해 기존에 인공전위계 알고리즘과 Elastic force 알고리즘 등이 제안되어져있다. 본 연구에서는 시뮬레이션을 통해 이 두 가지 방법에 의한 동작시간과 경로의 이동 길이를 비교하였다. 시뮬레이터는 IPC(Inter Process Communication)를 기반으로 개발되어졌으며, 알고리즘의 비교에는 차륜형 이동 로봇을 사용하였다.

• 조명전기설비학회논문지
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• 제24권6호
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• pp.75-82
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• 2010

본 논문에서는 MSRDS 환경에서 가상 4족 애완 로봇과 실제 4족 애완 로봇을 동기화함으로써 애완용 로봇의 행동을 설계할 수 있는 새로운 응용 시뮬레이터를 개발하였다. 이를 통하여 실제 로봇의 걸음새 및 동작 개발에 필요한 시간비용을 줄이고, 지능형 서비스 애완 로봇의 상업화에도 도움이 될 것이다. 또한, 본 연구 결과를 이용하여 가상공간과 실공간의 모델링의 차이를 극복하는 연구에 이용할 수 있다. 본 논문의 결과로서 가상 로봇과 실제 로봇의 연동 제어를 통해 원격지에 있는 두 대의 로봇간의 원격제어가 가능하므로, 두 대의 애완 로봇을 이용한 네트워크 게임으로서도 활용할 수 있을 것으로 기대된다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 심포지엄 논문집 정보 및 제어부문
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• pp.240-241
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• 2008

We are presenting the efficient and robust simplified module based self-collision detection of humanoid robot simulator. For safe and reliable operations of humanoid robot, the self-collision detection is essential and extremely important. The main methods of self-collision detection are inverse X-Y-Z fixed angles and module distance filtering (MDF). According to experiments on the humanoid robot simulator with the self-collision detection, we could have a confidence about the efficiency of the self-collision.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.417-422
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• 1993

Robots working in the multiple robot system can perform the variety of tasks compared to the single robot system, while they are subject to the various tight constraints such as the precise coordination and the mutual collision avoidance during the task execution. In this paper, we provide an algorithm and graphical verification for collision avoidance between two robots working together. The algorithm calculates the minimum time delay for collision avoidance and the graphical verification is performed through the 3-D graphic simulator.

• 제어로봇시스템학회논문지
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• 제7권5호
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• pp.420-426
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• 2001

In this paper, we introduce a case study of developing a miniature humanoid robot that has 16 degrees of freedom and is able to perform statically stable walking. The developed humanoid robot is 37cm tall and weighs 1,200g. RC servo motors are used as actuators. The robot can walk forward and turn to any direction on an even surface. It equipped with a small digital camera, so it can transmit vision data to a remote host computer via wireless modem. The robot can be operated in two modes: One is a remote-controlled mode, in which the robot behaves according to the command given by a human operator through the user-interface program running on a remote host computer, the other is a stand-alone mode, in which the robot behaves autonomously according the pre-programmed strategy. The user-interface program also contains a robot graphic simulator that is used to produce and verify the robot\`s gait motion. In our walking algorithm, the ankle joint is mainly used for balancing the robot. The experimental results shows that the developed robot can perform statically stable walking on an even surface.

• 대한전자공학회논문지
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• 제24권2호
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• pp.223-229
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• 1987

This robot programming system is designed for off-line programming of numerical controlled robot manipulator. This system consists of manipulation interpreter, world model manager, graphic simulator and arm controller for simple robot programming language. The system has graphic simulation system as a debugging tool for task programming and it simulates the robot motion graphically on a CRT terminal, which makes the assessment of the possible robot motion.

• 로봇학회논문지
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• 제13권3호
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• pp.151-156
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• 2018

Military robots are expected to play an important role in the future battlefield, and will be actively engaged in dangerous, repetitive and difficult tasks. During the robots perform the tasks a human operator controls the robots in a supervisory way. The operator recognizes battlefield situations from remote robots through an interface of the operator control center, and controls them. In the meantime, operator workload, controller interface, robot automation level, and task complexity affect robot operability. In order to assess the robot operability, we have developed ROSim (Robot Operational Simulator) incorporating these operational factors. In this paper, we introduce the results of applying ROSim experimentally to the assessment of reconnaissance robot operability in a battle field. This experimental assessment shows three resulting measurements: operational control workload, operational control capability, mission success rate, and discuss its applicability to the defense robot research and development. It is expected that ROSim can contribute to the design of an operator control center and the design analysis of a human-robot team in the defense robot research and development.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2008년도 하계종합학술대회
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• pp.1121-1122
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• 2008

By using FACS(Facial Action Coding System) and linear interpolation, a 3D facial robot simulator is developed in this paper. This simulator is based on real facial robot and synchronizes with it by unifying protocol. Using AUs(Action Unit) of each 5 basic expressions and linear interpolation makes more various dynamic facial expressions.