• 제어로봇시스템학회논문지
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• 제11권8호
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• pp.688-695
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• 2005

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The manipulability is a functionality of manipulator system in a given configuration under the limits of joint ability with respect to the task required to be performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method is presented. The dynamic equation of motion of underwater manipulator is derived based on the Lagrange-Euler equation considering with the hydrodynamic forces caused by added mass, buoyancy and hydraulic drag. The hydrodynamic drag term in the equation is established as analytical form using Denavit-Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based oil manipulability ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torques in joint space, while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid as much as gravity and velocity dependent forces in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.

• 한국지능시스템학회논문지
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• 제22권3호
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• pp.347-352
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• 2012

본 논문에서는 보행 로봇을위한 트러스 구조의 로봇 발 메커니즘을 제시한 후, 제시된 로봇 발 메커니즘의 특성을 분석하였다. 제시된 로봇 발 메커니즘은인간의 발의 구조적인 특징을 관찰하여 모델링 되었다. 특히, 인간의 발에 사용되고 있는 뼈대는 트러스로 나타내었고, 뼈대에 연결되어 있는 다양한 인대는 간단한 강성 요소로서 나타내었다. 따라서 이러한 로봇 발은 보행 로봇이 발걸음을 옮기는 과정에서 발에 작용되는 충격을 완화시킬 수 있는 장점을 갖는다. 결과적으로, 제안된 로봇 발 메커니즘은 보행로봇의 보행피로를 줄이는데 기여할 수 있다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2004-2009
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• 2003

A robust optimal control design is proposed in this study for rigid robotic systems under the unknown load and the other uncertainties. The uncertainties are quadratically bounded for some positive definite matrix. Iterative method finding the Q weighting matrix is shown. Computer simulations have been done for a weight-lifting operation of a two-link manipulator and the result of the simulation shows that the proposed algorithm is very effective for a robust control of robotic systems.

• 한국지능시스템학회논문지
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• 제20권6호
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• pp.774-779
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• 2010

본 논문에서는 다양한 서비스를 제공할 수 있는 모바일 매니퓰레이션 시스템에 장착된 로봇 팔과 몸체 메커니즘의 동적 운동 특성을 분석하고자 한다. 이 목적을 위하여 팔 및 몸체 메커니즘의 동특성 요소를 제시하고, 경로 추종 시뮬레이션을 통하여 이러한 요소들의 주요 동향을 확인한다. 또한, 이러한 요소들이 몸통, 어깨 및 팔꿈치 운동에 미치는 영향을 고찰한다. 이러한 분석은 로봇 팔과 몸체 메커니즘을 갖는 모바일 매니퓰레이션 시스템의 효과적인 조작행위를 위하여 유용하게 활용될 수 있을 것으로 기대한다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2004년도 ICEIC The International Conference on Electronics Informations and Communications
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• pp.410-415
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• 2004

Employing knowledge of adaptive possibilities of agents in multi-agents system, we have explored new aspects of distributed modular systems for building ubiquitous heterogeneous robotic systems using intelligent building blocks (I-BLOCKS) [1] as reconfigurable modules. This paper describes early technological approaches related to technical design, experimental developments and evaluation of adaptive processing and information interaction among I-BLOCKS allowing users to easily develop modular robotic systems. The processing technology presented in this paper is embedded inside each $DUPLO^1$ brick by microprocessor as well as selected sensors and actuators in addition. Behaviors of an I-BLOCKS modular structure are defined by the internal processing functionality of each I-Block in such structure and communication capacities between I-BLOCKS. Users of the I-BLOCKS system can easily do 'programming by building' and thereby create specific functionalities of a modular robotic structure of intelligent artefacts without the need to learn and use traditional programming language. From investigating different effects of modern artificial intelligence, I-BLOCKS we have developed might possibly contain potential possibilities for developing modular robotic system with different types of morphology, functionality and behavior. To assess these potential I-BLOCKS possibilities, the paper presents a limited range of different experimental scenarios in which I-BLOCKS have been used to set-up reconfigurable modular robots. The paper also reports briefly about earlier experiments of I-BLOCKS created on users' natural inspiration by a just defined concept of modular artefacts.

• 경영과정보연구
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• 제34권3호
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• pp.251-271
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• 2015

본 연구는 일터에서 사용되는 로봇의 HRD 정책적 함의에 대해 고찰하고 있다. 기존 연구들은 로봇의 기술적 측면을 주로 다루고 있기 때문에, 본 연구는 일터에서의 로봇 기술의 한계와 가능성을 사회문화적 측면에서 이해하기 위해 쓰여졌다. 특히 로봇과 함께 일하는 데 있어 가장 적합한 조직 차원의 지원 방안을 찾기 위해 일터에서의 로봇-인간 간의 상호작용을 관찰하는데 필요한 대안적인 관점을 제시하고 있다. 그와 함께 본 연구는 HRD 실천적 연구를 위한 로봇 기술의 함의를 다음과 같이 제안한다. (1) 인간-로봇 간 상호작용과 관련된 전문성의 요소들을 정의하는 것 (2) 기술 도입으로 인한 조직 변화 과정에 대처하는 것 (3) 로봇 기술에 적응하기 위한 조직 개입 방안을 계획하는 것 (4) 로봇과 인간이 함께 일할 때 필요한 직업윤리를 수립하는 것. 본 연구에서 제시된 로봇 기술의 함의들은 향후 일터에서의 로봇 기술 사용과 관련된 양적, 질적 사회과학 연구의 개념적 프레임워크를 수립하는데 기여할 수 있을 것으로 기대된다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2670-2675
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• 2003

A human-friendly interactive system, based on the harmonious symbiotic coexistence of human and robots, is explored. Based on interactive technology paradigm, a robotic cane is proposed for blind or visually impaired travelers to navigate safely and quickly among obstacles and other hazards faced by blind pedestrians. Robotic aids, such as robotic canes, require cooperation between humans and robots. Various methods for implementing the appropriate cooperative recognition, planning, and acting, have been investigated. The issues discussed include the interaction of human and robot, design issues of an interactive robotic cane, and behavior arbitration methodologies for navigation planning.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.248-253
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• 1992

In the development of a high speed and light weight manipulator, it is necessary to consider the structural elasticity of a robotic arm. The analysis of the infinite mode dynamic of robotic arm must be performed to obtain the finite mode modelling to achieve the feasible controller design of the robotic arm. The modelling procedure of the robotic arm is also illustrated. The controlled mode of the modelled dynamic can be derived by truncating the higher vibrational mode to result in the low order system for the sampling in the control signal is confined to the higher mode. And it is controlled by the pole assignment which can compensate the unmodelled dynamic effects. The unmodelled dynamic can result in the instability of the controlled system, which is known as spillover. The controller design of the low order system is simulated by the pole assignment and optimal control theory.

• 전기학회논문지
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• 제67권9호
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• pp.1125-1140
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• 2018

This paper analyzes robotic technology developed for live-line electricity distribution and its applicability to domestic environment. In doing so, available robotic systems developed for the live-line work are thoroughly investigated and compared in terms of from robotic functionality to economic feasibility. To assess the technology readiness for domestic live-line robot, the rubber gloves based direct live-line engineering methods have been also analyzed and mapped into robotic technology requisites. The results are expected as a fundamental data to help with solving the safety and economics issues when considering development and introduction of compact live-line robot for complex domestic electricity distribution environment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.528-532
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• 1991

Having very small linear displacement, piezoelectric actuators have been restricted in robotic application as positioning devices. In this paper, a mechanical amplifier was developed to enhance the displacement of piezoelectric actuator and the corresponding driving circuit was designed. This equipment was integrated as a robotic wrist having 2 D.O.F micropositioning capability. Each joint was analysed in mechanical and dynamic view points. Experimental result showed that this device has Some hysteresis but could be used as vibratory robotic wrist with relatively high frequency. For more fine positioning control, a closed loop approach must be taken into account.