Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Monitoring Robot System with RF and Network Communication

네트워크 및 RF 기반의 감시용 로봇 시스템

  • Kim, Dong-Hwan (Dept.of Mechanical Desing, Seoul National University of Technology) ;
  • Jeong, Gi-Beom (Dept.of Mechanical Desing, Seoul National University of Technology) ;
  • Hong, Yeong-Ho (Dept.of Mechanical Desing, Seoul National University of Technology)
  • 김동환 (서울산업대학교 기계설계학과) ;
  • 정기범 (서울산업대학교 기계설계학과) ;
  • 홍영호 (서울산업대학교 기계설계학과)
  • Published : 2001.09.01
Download PDF
⟨ Previous Next ⟩

Abstract

A monitoring robot capable of doing network and RF communication is introduced. The robot has several features that poses arbitrary position thanks to a mechanism combining the 4wheel drive and 4 link mechanism, transmits an image and command data via RF wireless communication. Moreover, the image data from the camera are transferred through a network communication. The robot plays a role in monitoring what is happening around the robot, and covers wide range due to a moving camera associated with the 4 arms. The robot can adjust its mass center by the 4 link mechanism, hence it guarantees a stability in moving on the slope.

네트워크와 RF 통신이 가능한 감시용 로봇에 대해 소개한다. 이 로봇은 4 바퀴와 4개의 링크로 구성된 메카니즘으로 인하여 자유로운 위치 조절이 가능하며, 이미지와 데이터를 RF를 통하여 전송하는 기능을 지니고 있다. 또한 네트워크 상에서 데이터와 카메라 이미지가 전송된다. 이 로봇은 로봇 주위에 일어나는 상황을 모니터링하고 4개의 암 구조를 통하여 넓은 영역을 확보한다. 이 로봇은 4개의 링크를 통하여 무게 중심을 조정하여 경사지에서의 안정성을 보장한다.

Keywords

References

  1. Yi, S. Y., Hong. Y. S., and Lee, C. W, 'The compliance control of a jointed-leg type quadruped robot for stable walking on an irregular ground,' Proceedings of the ICMT99, pp. 66-71, Pusan, Korea, 1999
  2. Sukhatme, G. S., 'The design and control of a prototype quadruped microever,' Autonomous Robots, vol. 4, no. 2, pp. 211-220, 1997 https://doi.org/10.1023/A:1008817816802
  3. Omata, T. and Tanaka, E. 'A quadruped robot which can take various postures,' Proceedings of the 1999 IEEE International Conference on Robotics, vol. 3, pp. 2666-2671, 1999 https://doi.org/10.1109/ROBOT.1999.770459
  4. Hamada, M., Masuda T., Nonami, K., and Sanda, A., 'Sliding mode servo control of quadruped locomotion robot with single link,' Proceedings of the Third International Conference on Motion and Vibration Control, vol. 2, 1996
  5. Lee, D. Y., Kwon, D. S, Yi, S. Y., and Hong, Y. S., 'Teleoperation of a quadruped walking robot using an aperiodic gait that converges to a periodic gait,' Proceedings of the 1999 International Conference on Intelligent Robots and Systems, vol. 3, pp. 1639-1644, 1999 https://doi.org/10.1109/IROS.1999.811713
  6. Kim, D. H., Jeong, G. B., and Hong, Y. H., 'Network based monitoring and cleaning robot with quadruped mechanism, Proceedings of the 32nd international symposium on robotics,' pp. 1458-1462, Seoul, Korea, April 19-21, 2001
  7. Kim, M. Y., Kim, K. H., Cho, H. S., Park, G. Y., and Yoon, J. S., 'A Shallow AUV in Nuclear Power Plants:Design and Implementation,' Proceedings of International Conference on Mechartonic Technology, 1998
  8. Unigraphics Solutions, 'Fundamentals Course Guide Ver.5,' 1999
  9. 김대근, 정순배, 김재희, 'Intel 80C196KC의 모든것', Ohmtk. 1999
  10. RF module data sheet, Radiometrix ltd., 2000
  11. RF 통신 화상 모듈 data sheet, 청우산업, 2000
  12. Chapman, D., 'Tech Yourself in 21 Days Visual C++ 6', SAMS, 1998
  13. Dumas, A., 'Programming Winsock,' InfoBook, 1996