• Journal of IKEEE
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• v.27 no.4
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• pp.610-616
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• 2023

In this paper, we implement an unmanned delivery robot system with Robot Operating System(ROS)-based mobile manipulator, and introduce the technologies employed for the system implementation. The robot consists of a mobile robot capable of autonomous navigation inside the building using an elevator and a Selective Compliance Assembly Robot Arm(SCARA)-Type manipulator equipped with a vacuum pump. The robot can determines the position and orientation for picking up a package through image segmentation and corner detection using the camera on the manipulator. The proposed system has a user interface implemented to check the delivery status and determine the real-time location of the robot through a web server linked to the application and ROS, and recognizes the shipment and address at the delivery station through You Only Look Once(YOLO) and Optical Character Recognition(OCR). The effectiveness of the system is validated through delivery experiments conducted within a 4-story building.

• 전기의세계
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• v.29 no.7
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• pp.460-470
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• 1980

The design of a control unit for a playback-type industrial robot is studied. Implemented for the cylindrical-coordinate type industrial robot with 5 degrees of freedom, the control unit constructed for the study consists of (i) z-80 .mu.p-based .mu.-computer control system (ii) Teach-Box for work command, and (iii) various softwares for generating signals for servo driving unit and operating the robot as playback-type. Softwares are developed by using high level Basic Language and low level z-80 Assembly Language for ease of programming and speed of program execution. To show the effectiveness, and example is included.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.10
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• pp.972-976
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• 2015

The objective of this research is to verify the quantitative efficiency of a bimanual robotic task. Bimanual robots can realize dexterous and complicated motions using two cooperating arms. However, its motion planning and control method are not simple for implementing flexible tasks such as assembly. In this paper, the proposed motion planning method is used to find an optimal solution satisfying a designed cost function and constraints with regard to the kinematics and redundancy of the bimanual robot. The simulation results show that the lifetime of the manipulator can be changed by the proposed cost function consisting of angular velocity and angular acceleration of each joint in the same assembly task.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1752-1756
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• 2003

Welding automation in shipbuilding process, especially in the assembly line is considered to be a difficult job because welding part is too huge , various and unstructured for a welding robot to weld the whole part automatically. We developed an automatic welding robot to improve those difficult process. This paper show how to systematically operate the integrated automation system which consists of several robots. We introduce our software and system integration method. Specially we focus that network communication and operating process. The developed system visualizes the operation environment using Open Inventor and communicates with the entire system via TCP/IP and FTP.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.111-116
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• 1998

In this study, we try to coincide virtual robot system in an OLP(off-line programming) with actual robot system even though kinematic differences between them are made. The virtual robot in the OLP may be modeled according to kinematics of the actual robot system. However, it is a complicated problem to find exactly all kinematic parameters of actual robot and environment. In this paper, an automated calibration method is proposed In order to find some kinematical parameters which are necessary for the modeling of a robot and environment in the OLP. It is applicable to SCARA robot for assembly task. In this method, a well-marked worktable of environment Is regarded as reference coordinate frame. The robot detects some marks on the worktable through sensors attached to the end-effector. The necessary parameters are calculated from the data of the robot joint variables when the robot detects the mark. The model in the OLP is modified by the parameters.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.507-512
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• 1992

This paper presents a method for the automatic generation of assembly sequences based on the recursive extraction of a preferred part along with the verification of its disassemblability. To verify the disassemblability of the part we inference the geometric precedence constraints using a method of extracting separable directions for the part and determine the disassemblability cost by the separability and stability cost. The proosed method provides a local optimal solution of finding a cost effective assembly plan, and the feasibility of calculating robot motion programs by evaluating separable directions in flexible manufacturing application. A case study is given to illustrate the concepts and procedure of the proposed scheme.

• Journal of the Korean Institute of Telematics and Electronics
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• v.26 no.2
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• pp.76-86
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• 1989

Many intelligent robots that are equipped with special tools and sensors re currently used in assembly line. As automatic manufacturing systems including such robots become advanced and complicated, there are increasing needs for the development of the sophisticated programming systems which can control several robots and other manufacutring equipments in workcell at a time. In this paper a programming language, ARL (Assembly Robot Language), is proposed and developed, which can control the manufacturing devices as well as robots in workcell. It has not only all the common features of modern textual robot language but also debugging facilities. In this language system machine dependecy is minimized by using dedicated processes and a shared memory for communication between processes. Extensibility and adaptability of the programming system is increased by using such a technique against the changes of workcel environment.

• Journal of the Korea Society of Computer and Information
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• v.18 no.4
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• pp.183-190
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• 2013

Many researchers in the 21st century has found that robot education is effective to develop the learners' creativity and problem-solving ability. However, the robot education can only be applied to the students whose computer skills are high. Also it can be taught in the well-prepared computer classroom. Students have to learn machine language to control their robots, and robots are controlled by different types of software. Therefore this study has constructed command-based programming blocks to do a robot programming without computers. It also presents a prototype of the programming process and a technological method to combine the command and the programming blocks. We used the blocks which are similar with something in flow chart: to support intuition, and to help students transfer what they learned. And types of blocks and details are described for the Robot Programing Education. Combination of command blocks is made by RS-485 connection method and, it is designed to intercommunicate with connected blocks. It also presents a prototypes: of the programming process using designed command blocks, and of the possibility of Unplugged Robot Education System.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.12
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• pp.165-172
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• 1995

Many algorithms to enhance a speed performance of a robot have been studied, but it's rare to consider disign aspect of a robot arm for time optimal problem. In this paper, section demensions of a robot arm and a velocity profile of an end-effector were optimally designed to minimize the cycle time. Capacity of actuators, deflections of end-effector, and a fundamental natural frequency of the robot arm were constrained in optimal design. For a given path with a trapezoidal velocity profile, torques of each joint were calculated using the inverse kinematics and dynamics. For the SCARA type robot which is mainly used for assembly tasks, the time optimal design of each robot arm id presented with the above constraints.

• Journal of Mechanical Science and Technology
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• v.14 no.7
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• pp.782-788
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• 2000

In this paper, we present a new approach to visual feedback control using image-based visual servoing with stereo vision. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only around a desired location but also at other locations. The suggested technique can guide a robot manipulator to the desired location without providing a priori knowledge such as the relative distance to the desired location or the model of an object even when the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by experimental results and compared with conventional control methods for an assembly robot.