• 대한기계학회논문집A
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• 제31권1호
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• pp.62-69
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• 2007

Micromanipulator is a device that manipulates an object with high precision. Generally, a parallel-type robot has inherently higher precision than a serial-type robot. In most cases, the use of flexure hinge mechanisms is the most appropriate approach to micromanipulators. The micromanipulator is basically required that have high natural frequency and sufficient workspace. However, previous designs are hard to satisfy the required workspace and natural frequency, simultaneously, because the previous micromanipulators are coupled designs. Therefore, this paper suggests a new design parameter as displacement amplifier and new design procedure based on semi-coupled design in axiomatic design. As a consequence the spatial 3-DOF micromanipulator which is chosen as an exemplary device has natural frequency of 500Hz and workspace of $-0.5^{\circ}{\sim}0.5^{\circ}$. To investigate the effectiveness of the displacement amplifier, simulation and experiment are performed.

• 정보처리학회논문지B
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• 제12B권5호
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• pp.535-542
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• 2005

증강 협업 환경은 지리적으로 떨어진 그룹과 그룹간의 사용자들이 함께 어려운 문제를 풀 수 있도록 도와주는 다수의 디스플레이를 활용하는 작업 환경이다. 본 논문은 실시간 협력 작업 환경의 특징적인 공유 작업 공간 모델을 살펴본다 그리고 과학적 가시화를 위한 증강 협업 환경의 공유 작업 공간 모델을 검증하는 반복적인 디자인 실험연구를 설명하고 있다 이 연구에서 원거리 사용자들의 협업을 향상시키기 위한 증강 협업 환경의 디스플레이 기술 설정을 바꿔가며 사용자 평가 실험이 진행되었다. 각 실험에서 두 개의 방에 두 명씩 분산된 그룹들에게 협업 가시화를 이용한 집중적인 분석 작업을 시켰다. 그 결과 다른 사람들의 작업 내용을 쉽게 볼 수 있는 고화질 작업환경의 항시 가시성이 분산된 구성원들 간의 상호 인지도와 협력에 도움이 되어 협업 능률을 향상시켰다.

• 한국지능시스템학회논문지
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• 제23권2호
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• pp.158-165
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• 2013

본 논문은 가사지원 한국형 서비스 로봇의 설계 및 작업공간의 분석에 대해 기술하였다. 한국형 서비스 로봇의 주안점은 바닥작업에 용이하도록 로봇을 설계하는 것이다. 로봇 팔의 길이도 바닥 작업에 용이 하도록 설계하였으며, 그에 따른 작업 공간을 분석하였다. 로봇 설계에 있어서도 매니퓰레이션 작업 영역의 확장을 위해 어깨와 허리에 높이 조절이 가능한 메커니즘과 슬라이딩 메커니즘 등을 적용하였다. 매니퓰레이터를 설계하고 및 제작하였으며, 제작된 매니퓰레이션 시스템의 작업 공간을 분석하였다. 실제로 로봇의 바닥잡업실험을 수행하였다.

• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.460-470
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• 2011

This paper presents a dynamic workspace control method of underwater manipulator considering a floating ROV (Remotely Operated vehicle) motion caused by sea wave. This method is necessary for the underwater work required linear motion control of a manipulator's end-effector mounted on a floating ROV in undersea. In the proposed method, the motion of ROV is modeled as nonlinear first-order differential equation excluded dynamic elements. For online manipulator control achievement, we develop the position tracking method based on sensor data and EKF (Extended Kalman Filter) and the input velocity compensation method. The dynamic workspace control method is established by applying these methods to differential inverse kinematics solution. For verification of the proposed method, experimental data based test of ROV position tracking and simulation of the proposed control method are performed, which is based on the specification of the KORDI deep-sea ROV Hemire.

• 한국건설관리학회논문집
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• 제5권5호
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• pp.151-162
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• 2004

Current methods for construction site modeling employ large, expensive laser range scanners that produce dense range point clouds of a scene from different perspectives. Days of skilled interpretation and of automatic segmentation may be required to convert the clouds to a finished CAD model. The dynamic nature of the construction environment requires that a real-time local area modeling system be capable of handling a rapidly changing and uncertain work environment. However, in practice, large, simple, and reasonably accurate embodying volumes are adequate feedback to an operator who, for instance, is attempting to place materials in the midst of obstacles with an occluded view. For real-time obstacle avoidance and automated equipment control functions, such volumes also facilitate computational tractability. In this research, a human operator's ability to quickly evaluate and associate objects in a scene is exploited. The operator directs a laser range finder mounted on a pan and tilt unit to collect range points on objects throughout the workspace. These groups of points form sparse range point clouds. These sparse clouds are then used to create geometric primitives for visualization and modeling purposes. Experimental results indicate that these models can be created rapidly and with sufficient accuracy for automated obstacle avoidance and equipment control functions.

• 로봇학회논문지
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• 제14권3호
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• pp.179-185
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• 2019

This paper presents cable-hydraulic driven 3DoF (Degree-of-Freedom) manipulator for cooperative robot with high output/low inertia and enhancing lager workspace of hydraulic manipulator. Hydraulic actuation could be solution to design more higher output manipulator than the one of electric motor actuation due to install actuation source and robot joint separated. In spite of this advantage, the conventional hydraulic driven manipulator using cylinder or vane actuator is not suitable for the candidate of cooperative robot because smaller workspace owing to small RoM (Range of Motion) hydraulic actuator. In this paper, we propose 3DoF manipulator with cable-hydraulic actuation which is more larger ratio of payload-to-weight than the one of conventional cooperative manipulator and larger workspace than the one of existing hydraulic driven manipulator. The performance of proposed manipulator was demonstrated by the experiments for confirming overall workspace task, high payload operation task under worst situation and comparing repeatability between developed manipulator and existed cooperative robots. The results of experiments showed that the appropriate performance of proposed manipulator for cooperative robot.

• Nuclear Engineering and Technology
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• 제56권7호
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• pp.2718-2731
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• 2024

To ensure the operational safety of nuclear power plants, we present a Quadruped Inspection Robot that can be used for many types of steam generators. Since the Inspection Robot relies on the Holding Modules to grip the tube-sheet, it can be regarded as a hybrid robot with variable configurations, switching between 4-RRR-RR, 3-RRR-RR, and two types of 2-RRR-RR, and the variable configurations bring a great challenge to dimensional synthesis. In this paper, the kinematic model of the Inspection Robot in multiple configurations is established, and the analytical solution is given. The workspace mapping is analyzed by the solution-space, and the workspace of multiple configurations is decomposed into the workspace of 2-RRR to reduce the analysis complexity, and the workspace calculation is simplified by using the envelope rings. The optimization problem of the manipulator is transformed into the calculation of the shortest contraction length of the swing leg. The switching performance of the Inspection Robot is evaluated by stride-length, turning-angle, and workspace overlap-ratio. The performance indexes are classified and transformed based on the proportions and variation trends of dimensional parameters to reduce the number of optimization objective functions, and Pareto optimal solutions are obtained using an intelligent optimization algorithm.

• Journal of Mechanical Science and Technology
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• 제17권4호
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• pp.528-537
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• 2003

This paper proposes a 3-PPR planar parallel manipulator, which consists of three active prismatic Joints, three passive prismatic joints, and three passive rotational joints. The analysis of the kinematics and the optimal design of the manipulator are also discussed. The proposed manipulator has the advantages of the closed type of direct kinematics and a void-free workspace with a convex type of borderline. For the kinematic analysis of the proposed manipulator, the direct kinematics, the inverse kinematics, and the inverse Jacobian of the manipulator are derived. After the rotational limits and the workspaces of the manipulator are investigated, the workspace of the manipulator is simulated. In addition, for the optimal design of the manipulator, the performance indices of the manipulator are investigated, and then an optimal design procedure Is carried out using Min-Max theory. Finally. one example using the optimal design is presented.

• 제어로봇시스템학회논문지
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• 제5권3호
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• pp.288-296
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• 1999

A force-reflecting hand controller can provide the kinesthetic information obtained from a slave manipulator to the operator of a teleoperation system. The goal is to construct a compact hand controller that can provide large workspace and good force-reflecting capability. This paper presents the design and the analysis of a 6-degree-of-freedom force-reflecting hand controller using fivebar parallel mechanism. The forward kinematics of the fivebar parallel mechanism has been calculated in real-time using three pin-joint sensors in addition to six actuator position sensors. A force decomposition approach is used to compute the Jacobian. To evaluate the characteristics of the fivebar parallel mechanism, it has been compared with the other three parallel mechanisms in terms with workspace and manipulability measure. The hand controller using the fivebar parallel mechanism has been constructed and tested to verify the feasibility of the design concept.

• 대한전기학회논문지
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• 제39권4호
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• pp.403-413
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• 1990

A collision free trajectory control for multiple mobile robots in obstacle-resident workspace is proposed. The proposed method is based on the concept of neural optimization network which has been applied to such problems which are too complex to be handled by traditional analytical methods, and gives good adaptibility for unpredictable environment. In this paper, the positions of the mobile robot are taken as the variables of the neural circuit and the differential equations are derived based on the performance index which is the weighted summation of the functions of the distances between the goal and current position of each robot, between each pair of robots and between the goal and current position of each robot, between each pair of robots and between obstacles and robots. Also is studied the problem of local minimum and of detour in large radius around obstacles, which is caused by inertia of mobile robots. To show the validity of the proposed method an example is illustrated by computer simulation, in which 6 mobile robots with mass and friction traverse in a workspace with 6 obstacles.