• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.270-276
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• 2016

This paper proposes a design methodology of self-reconfigurable kinematics and control engine for modular and reconfigurable robots. A modular manipulator has been proposed to meet the requirement of task adaptation in versatile needs for service and industrial robot area and the function of self-reconfiguration is required to extend the application of modular robots. Kinematic and dynamic contexts are extracted from the module and assembly information and related codes are automatically generated including controller. Thus a user can easily build and use a modular robot without professional knowledge. Simulation results are presented to verify the validity of the proposed method.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.291-295
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• 2007

FTL(Fuel Test Loop) is a facility that confirms performance of nuclear fuel at a similar irradiation condition with that of nuclear power plant. FTL consists of In-Pile Test Section (IPS) and Out-Pile System (OPS). FTL construction work began on August, 2006 and ended on March, 2007. During Construction, ensuring the worker's safety was the top priority and installation of the FTL without hampering the integrity of the HANARO was the next one. Task Force Team was organized to do a construction systematically and the communication between members of the task force team was done through the CoP(community of Practice) notice board provided by the Institute. The installation works were done successfully overcoming the difficulties such as on the limited space, on the radiation hazard inside the reactor pool, and finally on the shortening of the shut down period of the HANARO. Without a sweet of the workers of the participating company of HEC(Hyundae Engineering Co, Ltd), HDEC(HyunDai Engineering & Construction Co. Ltd), equipment manufacturer, and the task force team, it is not possible to install the FTL facility within the planned shutdown period. The Commissioning of the FTL is on due to check the function and the performance of the equipment and the overall system as well. The FTL shall start operation with high burn up test fuels in early 2008 if the commissioning and licensing progress on schedule.

• Journal of Mechanical Science and Technology
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• v.17 no.7
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• pp.999-1010
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• 2003

Uninterrupted power supply has become indispensable during the maintenance task of active electric power lines as a result of today's highly information-oriented society and increasing demand of electric utilities. This maintenance task has the risk of electric shock and the danger of falling from high place. Therefore it is necessary to realize an autonomous robot system using electro-hydraulic manipulators because hydraulic manipulators have the advantage of electric insulation and power/mass density. Meanwhile an electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous assembly tasks using hydraulic manipulators. In this paper, the robust force control of a 6-link electro-hydraulic manipulator system used in the real maintenance task of active electric lines is examined in detail. A nominal model for the system is obtained from experimental frequency responses of the system, and the deviation of the manipulator system from the nominal model is derived by a multiplicative uncertainty. Robust disturbance observers for force control are designed using this information in an H$\_$$\infty$/ framework, and implemented on the two different setups. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved even if the stiffness of environment and the shape of wall change.

• Korean Journal of Computational Design and Engineering
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• v.17 no.2
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• pp.79-90
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• 2012

In digital virtual manufacturing simulation, Digital Human widely used to optimal workplace design, enhancing worker safety in the workplace, and improving product quality. However, the case of ergonomics simulation solutions to support digital human modeling, Optimal DHM (Digital Human Model) data needed to develop and perform DHM will collect information related to the production process. So simulation developer has burden of collecting information. In this study, to overcome the limitations of existing solutions, we proposed the ADAGIO(Automated Digital humAn model development for General assembly usIng Ontology) framework. The ADAGIO framework was developed for DHM ontology to support optimal deployment of digital virtual environment and in order to ensure consistency of simulation components that are required for simulation modeling was made of a library.

• Journal of Welding and Joining
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• v.14 no.1
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• pp.30-37
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• 1996

조선에서 추진되어온 용접로봇의 적용은 주로 대조립 용접공정의 자동화로서, 갠트리(Gantry)에 용접토치를 장착한 로봇을 설치하여 구성하였다. 이러한 시스템에 서의 용접은 로봇을 용접부위까지 이송시킨 후 로봇의 구동으로 용접을 수행하거나, 또는 로봇과 캔트리의 동시 구동으로 용접을 수행하기도 한다. 또한 이 공정은 복잡 한 용접구조물을 OLP(Off-Line Programming)를 이용하여 교시하므로서 효과적인 자동 화 시스템의 구성이 가능할 수 있었다. 소조립 공정은 대조립공정과 비교하면 더 간단 한 부재의 용접이라 할 수 있으나 공정과 공장의 생산방법에 따라 자동화의 어려움은 따른다. 적용되는 매니프레이타는 소조립 공정의 특성에 맞게 그 형태가 설계되어야 하고 이를 운용하는 시스템은 소조립 생산방법에 맞게 통합, 개발되는 Task-Based System"이 되어야 한다. 특히 소조립 공정은 대조립 공정과 달리 여러가지 용접 판넬 을 동시에 이송시킨 후 용접함으로서 OLP의 직접 적용을 어렵게 하는 요인이 있어 이것을 해결하는 것이 생산성을 증가시키는데 적지 않은 영향을 미친다 하겠다. 이 글에서는 소조립 용접 자동화를 구성하기 위해 필요한 젓으로서 소조립 용접 공정을 소개하고, 공정의 특성에 맞도록 설계된 매니퓰레이타 시스템과, OLP, 판넬인식, 자동 교시 모들로 이루어지는 작업인식 시스템에 관해 기술한다.기술한다.

• Proceedings of the KIEE Conference
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• 1991.07a
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• pp.817-821
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• 1991

Coordinated motion control of two arms of a dual-arm robot has been studied by many researchers, because of it's potential application in assembly as well as the handling of large and heavy objects beyond the capacity of single arm. This paper derives dynamic equation of a dual-arm robot, and describes some constrains to pick up a simply shaped object at prespecified position on it. This paper concludes with describing both PD and self-tunning control algorithm for the above task.

• Journal of Korea Multimedia Society
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• v.10 no.6
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• pp.799-806
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• 2007

The prototypical smart environment to support the context-aware interactions between user and ubiquitous campus environment based on multi-agent system paradigm is proposed in this paper. In this model, the dynamic Bayesian is investigated to solicit and organize agents to produce information and presentation assembly process in order to allocate the resources for an unseen task across multiple services in a dynamic environment. The user model is used to manage varying user constraints and user preferences to achieve system's goals.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.7
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• pp.615-620
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• 2005

For successful deformable part assembly, information about its deformation as well as possible misalignment between the hole and its respective mating part are essential. Such information can be mainly acquired from visual sensors. In this paper, part deformation and misalignment in deformable cylindrical peg-in-hole tasks are measured by using a visual sensing system. First, a series of experiments to measure the position of an arbitrary point are performed. Next, an algorithm to measure misalignment and part shape as part deformation are presented, and a series of experiments on them are performed. Experimental results show that the proposed algorithms and the system are effective in measuring part deformation and misalignment.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.504-510
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• 1991

SAMSUNG Electronics has developed a SCAR.A robot system, SM3, which is applicable to several assembly, inspection, and adjustment tasks. This robot system drives by AC servo motors has attained a .theta.1 and .theta.2 axis maximum composite speed of 5.4 m/sec, a repeatability of .+-.05 mm, and a cycle time of 1.2 sea. The robot controller based on three 8086 and one 8087 processors consists of the main controller, the joint position controller, and the motor controller. The robot controller has plentiful self-diagnosis and control capabilities, and can be interfaced to other external device. The robot language FARAL Is designed such that every task is easily programmed. In this paper, the main features of the body, controller, and FARAL of SM3 will be described. In particular, the control method designed for a stable and fast robot motion will be explained. Finally, the future development will be addressed.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1322-1326
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• 1990

In this paper, compliant motion control of a manipualator in manipulator is proposed by using the self-tuning adaptive controller. Compliant motion is needed in order to applicated to complicated and accurate fields such as assembly operation in which several parts are matched. For a control method of compliant motion hybrid control is used so forces and position control are proposed selectively through a closed feedback loop. By contacting with environment, the uncertainties higher. Self-tuning controller which adapts to variable dynamic response is applied to compliant motion control in order to satisfy the desired operation. The applicability of the suggested algorithm was confirmed by simulation of the contour tracking task of four joint manipulator.