• Journal of the Korean Society for Precision Engineering
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• v.30 no.10
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• pp.1023-1029
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• 2013

Water running animals such as basilisk lizards have an advantage of high-speed movement and high power efficiency on water; so researchers in robotic fields have been interested in the water running locomotion. This paper presents prototype-design and experimental study on the fourand six-legged water running robot. Based on the previously proposed quadruped water running robot, we assemble a hexapedal water running robot. The legs of the water running robot are designed based on four-bar parallel link for repeated motion along to pre-defined path. Stability performance of the quadruped and hexapedal water running robot are investigated by experiments on rolling criterion. As a result, hexapedal robot performs better stability than quadruped robot. Based on the hexapedal robot design, we are planning to optimize the position of legs and operating frequency.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2004.10a
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• pp.207-210
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• 2004

일반적인 이동 로봇의 주된 관심은 경로 생성과 생성된 경로 추종에 있다. 그러나 일부 고속의 이동성이 필요로 하는 로봇의 경우 동역학적 제한 조건이 존재하며, 이러한 제한 조건내에서 원하는 움직임에 대한 제어가 요구된다. 본 논문에서 환경 지도를 가지고 있지 않은 상태, 즉 미지의 환경에서 이동 로봇의 경로 추종에 있어서 빠른 이동시에 발생할 수 있는 이동 로봇의 미끄러짐이나 전복 현상을 막기 위해 이동 로봇의 동역학적 제한 조건을 퍼지 논리를 이용하여 기준 속도를 변화시켜 안전하고 빠른 경로 추종 성능을 얻고자 하였다. 특히, 라인 추종 이동 로봇을 모델링하여 실시간으로 변화하는 목표점에 대한 추종 제어기를 설계하고 퍼지 최적 속도 제한 제어기를 통해 연속적으로 변화하는 라인에 대해서 지능적으로 로봇이 변화하는 라인에 대해서 지능적으로 로봇의 속도를 제한하여 안정적인 추종 성능을 발휘함을 확인하였다.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2005.04a
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• pp.229-232
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• 2005

본 논문에서는 다수의 로봇이 협동 제어 및 분산 제어를 목적으로 고안된 DARS 로봇의 마이크로 컨트롤러가 적은 메모리를 내장하여 영상 처리와 같은 많은 데이터를 처리하는 부분에서는 여러 제약이 생기는 문제점을 해결하기 위하여 DARS 로봇의 영상 처리 및 전송에 있어 데이터의 전송량을 줄이는 방법으로 영상 압축 방식을 사용하여 영상 압축 데이터의 전송을 구현하였다. 또한 DARS 로봇이 이동하면서 특정 미션의 수행이 가능하도록 배터리로 정전압을 공급하고, 물체를 감지하는데 있어 사각이 없이 $360^{\circ}$전 방향을 감지하도록 적외선 센서부를 설계하였다. DARS 로봇의 이동이 용이하도록 설계된 모터 구동부는 센서에 감지되는 물체의 거리에 따라 DARS 로봇이 속도를 정밀하게 가$\cdot$감속 제어를 하고, 마이컴 제어부는 카메라로부터 입력되 영상 신호를 압축 알고리즘을 이용하여 압축하고, 압축된 데이터를 컴퓨터로 전송한다. 컴퓨터에서는 입력된 영상을 Visual c++을 사용하여 화면 표시 및 DARS 로봇을 제어 할 수 있도록 구현하였다.

• Journal of the Institute of Convergence Signal Processing
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• v.12 no.4
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• pp.348-354
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• 2011

Mobile robots performed various missions in various environments. In order to move to target precisely, the mobile robots need a precise position sensing system In this paper, a new high precision docking sensor is proposed. Proposed docking sensor consists of linear CCD(charge coupled device) sensor and ultrasonic sensors. The docking sensor system can measure lateral position(X), longitudinal position(Y) and angle(${\theta}$) between the sensor and flat target with simple mark. Two ultrasonic sensors measure two distances which can be converted to longitudinal position and angle. Linear CCD sensor measures lateral position using center mark of the target. To verify performance of the sensor, the sensor is applied to an omnidirectional mobile robot. Several experimental results show highly precise performance of the sensor. Repeatability of the docking sensor is less than 1mm and $0.2^{\circ}$. Proposed docking sensor can be applied for precise docking of mobile robot.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.3
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• pp.16-22
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• 2019

Off-line programming and robot calibration through simulation are essential when setting up a robot in a robot automation production line. In this study, we developed a new robot calibration method to match the CAD data of the production line with the measurement data on the site using 3D scanner. The proposed method calibrates the robot using 3D point cloud data through Iterative Closest Point algorithm. Registration is performed in three steps. First, vertices connected by three planes are extracted from CAD data as feature points for registration. Three planes are reconstructed from the scan point data located around the extracted feature points to generate corresponding feature points. Finally, the transformation matrix is calculated by minimizing the distance between the feature points extracted through the ICP algorithm. As a result of applying the software to the automobile welding robot installation, the proposed method can calibrate the required accuracy to within 1.5mm and effectively shorten the set-up time, which took 5 hours per robot unit, to within 40 minutes. By using the developed system, it is possible to shorten the OLP working time of the car body assembly line, shorten the precision teaching time of the robot, improve the quality of the produced product and minimize the defect rate.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.9 s.174
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• pp.123-129
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• 2005

As the robot industry changes from industrial robot into personal robot used in home, the concept also changes from the existing fixed manipulator into Mobile Manipulator of free move in the aspect of appliance. For personal robot with such features, the role of mobile system is very important technology that rules the roost of robot functions. Especially, it is necessary to develop moving mechanism for free move in a narrow environment with obstacles such as home. This study introduces 3-axis structure in order to develop synchronous method that has turret capable of endless revolution for practical use as well as semi-omnidirectional function, and suggests applicable method to solve the problem of mechanical coupling.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1656-1659
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• 2005

earning industry is high in terms of side of creation of the added value or progress of technology rightly hereupon. This research raises or designed multi-function handling robot that can make welding, assembly conveniently catching large size work waterRatio that robot occupies is low level worldwide fairly in susdension wire, electricity electron and neutralization learning industry and domestic industry of this is staying in average leve. Can speak that grafting of robotic machine and neutralization

• Journal of the Korean Society for Precision Engineering
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• v.22 no.3 s.168
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• pp.38-45
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• 2005

In this paper, a bird type biped robot for entertainment controlled by R/C servo motors, is built using the embedded RTOS (Real Time Operating System). ${\mu}C/OS-II$ V2.00 is used fur RTOS and the board 80C196KC for main CPU. A control algorithm of R/C servo motors is proposed on ${\mu}C/OS-II's$ preemptive and deterministic property without any extra PWM module. The realized biped robot has 19DOF, that is, 12DOF for both legs, 6DOF for both arms and 1DOF for neck. To verify the proper walking process, ZMP(Zero Moment Point) theory is applied and the simulation has been done by ADAMS.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.7
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• pp.73-80
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• 2009

This paper describes a path planning algorithm, which is the minimal turning path based on the shape and size of the cell to clean up the whole area with two cleaning robots. Our method divides the whole cleaning area with each cell by cellular decomposition, and then provides some path plans among of the robots to reduce the rate of energy consumption and cleaning time of it. In addition we suggest how to plan between the robots especially when they are cleaning in the same cell. Finally simulation results demonstrate the effectiveness of the algorithm in an unknown area with multiple robots. And then we compare the performance index of two algorithms such as total of turn, total of time.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.9 no.3
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• pp.1-7
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• 2010

The aim of this research is to evaluate movement and path characteristics of developed heavy duty handling robot using laser tracker(API T3) according to the ISO 9283 robot performance evaluation criteria. As carry out 3D modeling and simulation using CATIA, a test cube was set up to select moving and measuring range of robot. Performance test for pose and distance accuracy, path and path velocity accuracy under payload zero and 440kgf was accomplished. The resulted output data show the reliability of the developed robot.