• Title, Summary, Keyword: multi-robot

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A study on the implementation of new ROBOT CONTROLLER with MULTI-TASKING and MULTI-ROBOT functions (다중 processor를 이용한 multi-robot용 제어기의 구현에 대한 연구)

  • 김성락;추상원;이충기;임형준;이용중;이인옥
    • 제어로봇시스템학회:학술대회논문집
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    • pp.507-510
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    • 1988
  • The main subject of this paper is the development of new ROBOT CONTROLLER, which can support MULTI-TASKING and MULTI-ROBOT functions. The system consists of various kinds of CPU modules according to their independent jobs. Acceleration and Deceleration profile is given in order to achieve the smooth robot motion and high cycle time. Further the communication capacity should be upgraded to meet the various kinds of peripheral PA devices.

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Intelligent Hybrid Modular Architecture for Multi Agent System

  • Lee, Dong-Hun;Baek, Seung-Min;Kuc, Tae-Yong;Chung, Chae-Wook
    • 제어로봇시스템학회:학술대회논문집
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    • pp.896-902
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    • 2004
  • The purpose of the study of multi-robot system is to realize multi-robot system easy for the control of robot system in case robot is adapted in the complicated environment of task structure. The purpose of the study of multi-robot system is to realize multi-robot system easy for the control of robot system in case robot is adapted in the complicated environment of task structure. To make real time control possible by making effective use of recognized information in this dynamic environment, suitable distribution of tasks should be made in consideration of function and role of each performing robots. In this paper, IHMA (Intelligent Hybrid Modular Architecture) of Intelligent combined control architecture which utilizes the merits of deliberative and reactive controllers will be suggested and its efficiency will be evaluated through the adaptation of control architecture to representative multi-robot system.

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Development of a Multi-Robot Control Language (다중 로보트 제어 언어 개발)

  • Kim, Tae-Won;Suh, Il-Hong;Oh, Young-Suk
    • Proceedings of the KIEE Conference
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    • pp.446-449
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    • 1990
  • A Multi-Robot Control language (MRCL) is proposed to effectively control the multi-robot. MRCL has not only single-robot, command, but multi-robot command with multi-task OS, XINU. Concurrent motion, coordinate motion, and simple collision avoidance motion are implemented. This language is expected to act as a intelligent supporting tool for multi-robot system. To verify the effectiveness of the MRCL, a simple puzzle matching example is illustrated.

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Multi-Mobile Robot System with Fuzzy Rule based Structure in Collision avoidance (충돌회피환경에서의 퍼지 규칙 기반 멀티 모바일 로봇 시스템)

  • Kim, Dong-W.;Yi, Chong-Ho
    • Journal of Institute of Control, Robotics and Systems
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    • v.16 no.3
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    • pp.233-238
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    • 2010
  • This paper describes a multi-mobile robot system with fuzzy rule based structure in collision avoidance. Collision avoidance is an important function to perform a given task collaboratively and cooperatively in multi-mobile robot environments. So the important but challenging problem is handled in this paper. Considered obstacles for collision avoidance between multi mobile robots are static, dynamic, or both of them at the same time. Using the fuzzy rule based structure, distance and angle from a robot to obstacles are described as fuzzy linguistic values and steering angle for the robot are updated from the collision environments. As a result, the multi-mobile robot can modify a global path from a robot itself to its own target. In addition, avoiding collision with static or dynamic obstacles for the robot system can be achieved. Simulation based experimental results are given to show usefulness of this method.

Design of network for data interaction between Robot Agents in Multi Agent Robot System (MARS) (Multi Agent Robot System(MARS)의 Robot Agent 간 정보교환을 위한 네트워크 프로그램 구현)

  • Ko, Kwang-Eun;Lee, Jeong-Soo;Jang, In-Hun;Sim, Kwee-Bo
    • Journal of the Korean Institute of Intelligent Systems
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    • v.17 no.5
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    • pp.712-717
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    • 2007
  • Using home network system including home server, home service robot, a variety of device, it is generally known that application of Multi Agent System for performing variously distributed process that can be occur in home environment, is efficient method. In this system, it is intelligent service robot that a key of human interface and physical service offer Therefore, using application of established multi agent system, we can defined Multi Agent Robot System. In 'open' home environment, between all agent data interaction and cooperation are needed for Multi Agent System offer to user that more efficient service. For this, we focus our attention on define as agent that can autonomic drive and offer to user that physical service robots and, design, suggest the simulator can display that between robot agents communication or between other agents, like home server, and robot agents communication information to user interface.

Development of high precision multi arms robot system consist of two robot arms and multi sensors (복수개의 로보트와 다중센서를 이용한 정밀조립용 로보트 시스템 개발에 관한 연구)

  • Lim, Mee-Seub;Cho, Young-Jo;Lee, Joon-Soo;Park, Jeung-Min;Kim, Kwang-Bae
    • Proceedings of the KIEE Conference
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    • pp.422-424
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    • 1992
  • In this paper, we are designed a hierachical system controller and builed a robot system for high precision assembly consisting in multi-arms and multi-sensor. For the control of a multi-arms robot system, the robot system are consisted of cell controller, station controller and device. The Operating System of a cell controller is VxWorks for real-time multi-processing. Using by C-language, we are proposed a multi-arms robot control language based a RCCL, and this control language is partially implemented and tested in multi-robot control system.

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Process Planning for Multi-weldline/Multi-pass Robot Welding (다용접선/다층 로보트 용접을 위한 공정 계획)

  • 최진섭;김동원;양성모
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • pp.446-449
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    • 1993
  • Presented in this paper is the process planning for multi-weldline/multi-pass robot welding. First, downhand welding for welding quality and stability for welding productivity, the two concept of process planning for single-weldling/single-pass robot weldling are derived. Next, process planning procedure for single-weldling/single-pass robot weldling is proposed and the procedure is extended for multi-weldling and/or multi-pass robot welding.

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Robot Arc Welding Task Sequencing using Genetic Algorithms (유전 알고리즘을 이용한 로봇 아크 용접작업)

  • Kim, Dong-Won;Kim, Kyoung-Yun
    • Journal of the Korean Society for Precision Engineering
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    • v.16 no.1
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    • pp.49-60
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    • 1999
  • This paper addresses a welding task sequencing for robot arc welding process planning. Although welding task sequencing is an essential step in the welding process planning, it has not been considered through a systematic approach, but it depends rather on empirical knowledge. Thus, an effective task sequencing for robot arc welding is required. Welding perations can be classified by the number of welding robots. Genetic algorithms are applied to tackle those welding task sequencing problems. A genetic algorithm for traveling salesman problem (TSP) is utilized to determine welding task sequencing for a MultiWeldline-SingleLayer problem. Further, welding task sequencing for multiWeldline-MultiLayer welding is investigated and appropriate genetic algorithms are introduced. A random key genetic algorithm is also proposed to solve multi-robot welding sequencing : MultiWeldline with multi robots. Finally, the genetic algorithm are implemented for the welding task sequencing of three dimensional weld plate assemblies. Robot welding operations conforming to the algorithms are simulated in graphic detail using a robot simulation software IGRIP.

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Development of Manipulator for Vertically Moving Multi-Joint Apple Harvesting Robot(I) -Design.Manusacturing- (수직 다관절 사과수확로봇의 매니퓰레이터 개발 (I) -설계.제작-)

  • 장익주
    • Journal of Biosystems Engineering
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    • v.25 no.5
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    • pp.399-408
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    • 2000
  • This study is final focused on developing fruit harvesting robot can distinguish fruit type and status accurately. Multi-joint robot is able to discriminate tree shape and select mature fruit by image processing. The multi-joint robot consists of (a) rotating base, (b)turning first joint-arm, (c)rotating and turning second joint-arm, (d)rotating and turning third joint-arm, (e)rotating and turning last joint and (f)picker hand. The operational ranges of the robot are: horizontal 860~2,220mm, vertical 1,440~2,260mm, 270 degrees’rotation angle, 90 or 270 degrees’turning angle. The robot weighs 330kg. The multi-joint robot was designed in high accuracy and efficiency by getting as close as the movements of human arms and waist.

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Multi-Operation Robot For Fruit Production

  • Kondo, Naoshi;Monta, Mitsuji;Shibano, Yasunori
    • Proceedings of the Korean Society for Agricultural Machinery Conference
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    • pp.621-631
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    • 1996
  • It is said that robot can be used for multi-purpose use by changing end effector or/and visual sensor with its software. In this study, it was investigated what multi-purpose robot for fruit-production was using a tomato harvesting robot and a robot to work in vineyard. Tomato harvesting robot consisted of manipulator, end-effector, visual sensor and traveling device. Plant training system of larger size tomato is similar with that of cherry-tomato. Two end-effectors were prepared for larger size tomato and cherry-tomato fruit harvesting operations, while the res components were not changed for the different work objects. A color TV camera could be used for the both work objects, however fruit detecting algorithm and extracted features from image should be changed. As for the grape-robot , several end-effector for harvesting , berry thinning , bagging and spraying were developed and experimented after attaching each end-effector to manipulator end. The manipulator was a polar coordinate type and had five degrees of freedom so that it could have enough working space for the operations. It was observed that visual sensor was necessary for harvesting, bagging and berry-thinning operations and that spraying operation requires another sensor for keeping certain distance between trellis and end-effector. From the experimental results, it was considered that multi-operations by the same robot could be appropriately done on the same or similar plant training system changing some robot components . One of the important results on having function of multi-operation was to be able to make working period of the robot longer.

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