• 제어로봇시스템학회논문지
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• 제2권1호
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• pp.35-44
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• 1996

A design method for a teleoperator robot system is presented in this paper. The control system consists of two phases; approach phase and contact one. The end-effector position of the estimated slave robot and the contact force between the end-effector and wall are displayed on the monitors at control site, using which the operator controls the teleoperator system. The approach phase controller is designed using Smith's principle and the contact one designed based upon the structured singular value ${\mu}$ in order to increase the robustness of the system. The uncertainatices such as communication time delay and the variations of system parameters are considered as a muliplicative pertubation. Computer simulations are conducted in order to evaluate the performance of the proposed design method. It is found that desirable control performance, especially in the contact phase, is obtained if the control mode is switched into contact phase when the estimated position of the slave robot end-effector is in front of the wall.

• 대한인간공학회지
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• 제7권2호
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• pp.31-44
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• 1988

If an error occurs in the automatic mode when the advanced teleoperator system performs a task in hostile environment then the automatic mode changes into the manual mode. The operation by the control program and the operation by a human recover the error in the manual mode. The system resumes the automatic mode and continues the given task. It is necessary to improve the manual mode in order to make the best use of a man-robot system, as a part of the human interface technique. Therefore, the error recovery task is performed by combining the operation by the control program representing autonomy of a robot and the operation by a human representing versatility of a human operator effectively in the view point of human factors engineering. The geometric inverse kinematics is used for the calculation of the robot joint values in the operation by the control program. The singularity operation error and the parameter operation error often occur in this procedure. These two operation errors increase the movement time of the robot and the coordinate reading time, during the error recovery task. A singularity algorithm, parameter algorithm and fuzzy control are studied so as to remove the disadvantages of geometric inverse kinematics. And the geometric straight line motion is studied so as to improve the disadvantages of the operation by a human.

• 대한인간공학회지
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• 제6권2호
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• pp.19-28
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• 1987

If an error occurs in the automatic mode when the advanced teleoperator system performs a task in hostile environment, then the mode changes into the manual mode. The operation by program and the operation by hyman recover the error in the manual mode. The system resumew the automatic mode and continues the given task. In order to utilize the inverse kinematics as means of the operation by program in the manual mode, Lee and Nagamachi determined the end point of the robot trajectory planning which varied with the height of the task object recognized by a T.V monitor, solved the end point by the fuzzy set theory, and controlled the position of the robot hand by the inverse kinematics and the posture of the robot hand by the operation by human. But the operation by human did take a lot of task time because the position and the posture of the robot hand were separately controlled. To reduce the task time by human, this paper developes an error recovery expert system (ERES). The position of the robot hand is controlled by the inverse kinematics of the cartesian coordinate system to the end point which is deter- mined by the fuzzy set theory. The posture of the robot hand is controlled by the modulality of the robot hand's motion which is made by the posture of the task object. The knowledge base and the inference engine of the ERES is developed using the muLISP-86 language. The experimental results show that the average task time by human the ERES which was performed by the integration of the position and the posture control of the robot hand is shorter than that of the research, done by the preliminary experiment, which was performed by the separation of the position and the posture control of the robot hand. A further study is likely to research into an even more intelligent robot system control usint a superimposed display and digitizer which can present two-dimensional coordinate of the work space for the convenience of human interaction.

• 대한인간공학회지
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• 제7권1호
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• pp.31-37
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• 1988

This paper designs, in the teleoperation task, the world coordinate system by the functional analysis of each of the robot joint so that the human operator performs easily the task. Also, it constructs the heuristic rules of the equal motion line coordinates for the position and the posture control of the robot within the knowledge base so that the robot hand reaches-possibly in any position of the robot's work space. As shown in the result of the experiments. the coordinate reading is easy because the work station is displayed to the high resolution by using the superimposer of the motion analysing computer system. Also. the task burden of the human operator reduces and the error recovery time reduces because the coordinates of the object is obtained just by touch using the digitizer.

• 제어로봇시스템학회논문지
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• 제13권2호
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• pp.140-146
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• 2007

This paper demonstrates the development of a mobile robot for patrol. We fuse differential GPS, angle sensor and odometry data using the framework of extended Kalman filter to localize a mobile robot in outdoor environments. An important feature of road environment is the existence of curbs. So, we also propose an algorithm to find out the position of curbs from laser range finder data using Hough transform. The mobile robot builds the map of the curbs of roads and the map is used fur tracking and localization. The patrol robot system consists of a mobile robot and a control station. The mobile robot sends the image data from a camera to the control station. The remote control station receives and displays the image data. Also, the patrol robot system can be used in two modes, teleoperated or autonomous. In teleoperated mode, the teleoperator commands the mobile robot based on the image data. On the other hand, in autonomous mode, the mobile robot has to autonomously track the predefined waypoints. So, we have designed a path tracking controller to track the path. We have been able to confirm that the proposed algorithms show proper performances in outdoor environment through experiments in the road.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1488-1493
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• 2003

Recently, higher and bigger building is trend of the construction. Accordingly the building material is getting bigger and construction equipments are developed. But operation is still depends on human resource. Therefore there have several problems that are safety, laborious operation, and shortage of worker. In the various construction sites, the automation in construction is introduced to solve these problems. This paper proposed the automation system in construction that installs curtain wall in a high building. The system is expected effects that are reduction of a construction period, retrenchment of the cost and assurance of safety.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.602-607
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• 1990

Spent nuclear fuel is very dangerous substance emitting strong ionizing radiation which is harmful to human body. The remote handling of spent nuclear fuel is essential because people cannot access this substance without protecting radiation. To handle highly radioactive material or nuclear waste, many kinds of teleoperators such as master slave manipulator, electro mechanical manipulator, servo manipulator, mobile robot was developed. The distance and dimension of target object cannot be measured easily when highly radioactive material is handled by teleoperator because one should use lead glass or TV camera and monitor to protect radiation and see target object. During experiments on the remote handling of spent nuclear fuel by electro mechanical manipulator, we often felt that a distance and dimension measurement system is necessary to handle the objects which is in the highly radioactive environment, so we developed a system which is appropriate for this purpose.

• 대한인간공학회지
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• 제6권1호
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• pp.25-32
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• 1987

The paesent paper deals with obtaining the properly mixed application critaeia for the manual mode, using computer graphic simulation, in order to recover the error effectively occurring in the advanced teleoperator work of man-robot system. In these experiments the error which is occurred during performing the automatic mode is recovered by the manual mode which is combined properly the operation by hyman with the operation by control program. The result shows an improvement availibility of the system by not only establishing an efficient combination of the manual mode according to trajectory planning but also recovering the error effectively. Therefore we suggest that the operation by control program should be applied in macro motion of control and the operation by human in micro motion of control.