• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.43-48
• /
• 2005

A robot system encompassing a remote control and monitoring through a virtual robot design is addressed and a tracking problem for a 2D (2 dimension) moving target by a robot vision is chosen as a case study. The virtual robot is developed, and it synchronizes with the real robot by compensating delay time. Two systems are displayed on a remote panel by communicating command and image data. The virtual robot utilizes an OpenGL library in Visual $C^{++}$ environment. Additionally, the remote monitoring and control between the real robot and the virtual robot are accomplished by employing an appropriate data compression in a network communication.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.1430-1434
• /
• 2004

Recently, Virtual reality parts is applied in various fields of industry. In this paper we developed basic components for virtual robot control system interfaced with real environment. For this, a real robot with virtual interface module is developed and virtual robot of similar image with real robot is created by putting on 3D graphic texture to the real robot. To build an unknown environment to be linked with virtual environment, we proposed a hough transformation based algorithm. Our proposed algorithm consists of navigation module by using fuzzy engine and map building module. Experiments using a developed robot illustrate the method.

• 한국정밀공학회지
• /
• 제22권5호
• /
• pp.87-94
• /
• 2005

This paper presents the development of a virtual robot design program. Robot design requires numerical software, robot solution software and multi-body dynamics software to complete several designs. However using a commercialized software implies some disadvantages, such as the waste of time and money it costs to learn how to use the software. We developed a virtual robot design program with which a user can design a robot with rapidity and reliability. The virtual robot design program is composed of robot kinematics module and robot dynamics module. The program is powerful software which may be used to solve various problems of a robot. The 3D animator and a 2D/3D graph of the program can analyze the design results into visual data. The virtual robot design program is expected to increase the competitiveness and efficiency of the robot industry.

• 한국정보통신학회:학술대회논문집
• /
• 한국해양정보통신학회 2003년도 추계종합학술대회
• /
• pp.320-324
• /
• 2003

최근, 가상현실분야가 매우 다양하게 각 산업분야에서 응용되고 있다. 본 논문에서는 가상환경하에서 인터페이스 조작에 의하여 로봇의 움직임을 제어하였다. 3D Graphic Tool을 사용하여 가상로봇을 생성하고 생성된 가상로봇에 실제로봇의 텍스쳐를 입혀 X파일로 변환시켜 3차원 가상현실에 적용되는 Direct 3D Graphic의 Component들을 사용하여 실제로봇과 동일한 모습을 재현하였다. 또한 조이스틱을 통해서 가상로봇의 움직임을 표현하고 실제로봇을 제어했다. 개발된 로봇은 크게 로봇 제어부와 Host PC에서의 Visual I/F program으로 구성되어 있다. 개발된 로봇의 구동부와 Camera의 구동부는 2자유도를 갖고 있으며 사용자 친화적으로 개발된 조이스틱으로 원격조종된다. 외부 상황은 비젼 시스템과 초음파 센서로 인식되며, 화상 및 센서 데이터, 명령어 둥을 각각 900MHz와 447MHz RF로 통신된다. 사용자는 실제 로봇을 제어하기 위하여 시뮬레이터를 이용하여 로봇 제어 명령을 내리면 로봇을 구동하기 위한 원격 송/수신부에서 447MHz의 특정소출력국용 주파수를 사용하는 모듈을 통해 Half duplex 방식으로 4800bps로 실외 500m까지 제어한다.

• 전기학회논문지
• /
• 제57권4호
• /
• pp.686-691
• /
• 2008

This paper proposes the concept of "virtual sensor data" and its application for real time obstacle avoidance. The virtual sensor data is virtual distance which takes care of the movement of the obstacle as well as that of the robot. In practical application, the virtual sensor data is calculated from the odometry data and the range sensor data. The virtual sensor data can be used in all the methods which use distance data for collision avoidance. Since the virtual sensor data considers the movement of the robot and the obstacle, the methods utilizing the virtual sensor data results in more smooth and safer collision-free motion.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
• /
• pp.105-110
• /
• 1998

This paper proposes a graphical user interface for industrial robot systems. Previous user interfaces for industrial robot systems were based on the text. In order to enable operators to handle robots more efficiently, a set of graphical tools is provided. The graphical tools contain a control panel for operating robots and compiling robot programs, a graphical teaching panel for handling virtual robots and a graphical monitoring panel for checking robot status. Furthermore, the proposed GUI can be used to operate remote robots because it has network utilities. This system consists of the virtual mode and the real mode. The user can handle a 3D virtual solid model of the robot in the virtual mode and an actual robot in the real mode.

• 한국산업융합학회 논문집
• /
• 제25권2_2호
• /
• pp.193-198
• /
• 2022

In this paper, we introduce the improved control method are communicated between a master and a slave robot in the teleoperation systems. When the master and slave robots are located in different places, time delay is unavoidable under the network environment and it is well known that the system can become unstable when even a small time delay exists in the communication channel. The time delay may cause instability in teleoperation systems especially if those systems include haptic feedback. This paper presents a control scheme based on the estimator with virtual master model in teleoperation systems over the network. As the behavior of virtual model is tracking the one of master model, the operator can control real master robot by manipulating the virtual robot. And LQG/LTR scheme was adopted for the compensation of un-modeled dynamics. The approach is based on virtual master model, which has been implemented on a robot over the network. Its performance is verified by the computer simulation and the experiment.

• 한국생산제조학회지
• /
• 제7권1호
• /
• pp.9-21
• /
• 1998

This paper a new solution approach to moving obstacle avoidance problem of a mobile robot. A new concept avoidability measure (AVM) is defined to describe the state of a pair of a robot and an obstacle regarding the collision between them. As an AVM, virtual distance function (VDF), is derived as a function of the distance from the obstacle to the robot and outward speed of the obstacle relative to the robot. By keeping the virtual distance above some positive limit value, the robot avoids the obstacle. In terms of the VDF ,an artificial potential field is constructed to repel the robot away from the obstacle and to attract the robot toward a goal location. At every sampling time, the artificial potential field is updated and the force driving the robot is derived from the gradient of the artificial potential field. The suggested algorithm drives the robot to avoid moving obstacles in real time. Since the algorithm considers the mobility of the obstacle as well as the distance, it is effective for moving obstacle avoidance. Some simulation studies show the effectiveness of the proposed approach.

• 한국정밀공학회지
• /
• 제21권4호
• /
• pp.95-102
• /
• 2004

It is necessary to improve the exactness and adaptation of the working environment in the intelligent robot system. The vision sensor have been studied for this reason fur a long time. However, it is very difficult to perform the camera and robot calibrations because the three dimensional reconstruction and many processes are required for the real usages. This paper suggests the image based visual servoing to solve the problem of old calibration technique and supports OLP(Off-Line-Programming) path compensation. Virtual camera can be modeled from the real factors and virtual images obtained from virtual camera gives more easy perception process. Also, Initial path generated from OLP could be compensated by the pixel level acquired from the real and virtual, respectively. Consequently, the proposed visually assisted OLP teaching remove the calibration and reconstruction process in real working space. With a virtual simulation, the better performance is observed and the robot path error is calibrated by the image differences.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2004년도 추계학술대회 논문집
• /
• pp.989-992
• /
• 2004

In general, it is known that walking stability of a quadruped is determined by its COG(Center of Gravity). In this paper, in order to know whether our virtual quadruped robot is applicable to the real quadruped robot, we simulated our virtual model using the data from the real robot‘s walking. We were able to evaluate the stride of quadruped based on direct and inverse kinematics and compared the stride of the simulation with real robot’s it. During the simulation we calculated the COG of the virtual model and evaluated the walking stability of real model.