• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 1996.10a
• /
• pp.150-155
• /
• 1996

This paper presents a new approach to the design of self-tuning adaptive control system that is robust to the changing dynamic configuration as well as to the load variation factors using digital signal processors for robot manipulators. TMS3200C50 is used in implementing real-time adaptive control algorithms provide advanced performance for robot manipulator. In this paper an adaptive control scheme is proposed in order to design the pole-placement self-tuning controller which can reject the offset due to any load disturbance without a detailed description of robot dynamics. parameters of discrete-time difference model are estimated by the recursive least-square identification algorithm and controller parameters are detemined by the pole-placement method. Performance of self-tuning adaptive controller is illusrated by the simulation and experiment for a SCARA robot.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1996.11a
• /
• pp.754-758
• /
• 1996

This paper presents a new approach to the design of self-tuning adaptive control system that is robust to the changing dynamic configuration as well as to the load variation factors using Digital signal processors for robot manipulators. TMS320C50 is used in implementing real-time adaptive control algorithms to provide advanced performance for robot manipulator, In this paper, an adaptive control scheme is proposed in order to design the pole-placement self-tuning controller which can reject the offset due to any load disturbance without a detailed description of robot dynamics. Parameters of discrete-time difference model are estimated by the recursive least-square identification algorithm, and controller parameters we determined by the pole-placement method. Performance of self-tuning adaptive controller is illusrated by the simulation and experiment for a SCARA robot.

• International Journal of Control, Automation, and Systems
• /
• v.5 no.3
• /
• pp.343-348
• /
• 2007

This paper presents an adaptive controller for the compensation of state-dependent disturbance with unknown amplitude in a digital servo motor system. The state-dependent disturbance is caused by friction and eccentricity between the wheel axis and the motor driver of a mobile robot servo system. The proposed control scheme guarantees an asymptotical stability for both the velocity and position regulation. An experimental result shows the effectiveness of the adaptive disturbance compensator for wheeled-mobile robot in a low velocity diffusion tracking. A comparative experimental study with a simple PI controller is presented.

• Proceedings of the Korea Society for Simulation Conference
• /
• 2003.11a
• /
• pp.185-192
• /
• 2003

Digital Manufacturing-based production could be very effective in shipbuilding in order to save costs and time, to increase safety for workers, and to prevent bottleneck processes in advance. Digital shipbuilding system, a simulation-based production tool, is being developed to achieve such aspects in Korea. To simulate material flow in a subassembly line at a shipyard, the product, process and resources was modeled for the subassembly process which consisted of several sub-processes such as tack welding, piece alignment, tack welding, and robot welding processes. The analysis and modeling were carried out by using the UML(Unified Modeling Language), an object-oriented modeling method as well as IDEF(Integration DEFinition), a functional modeling tool. Initially, the characteristics of the shop resources were analyzed using the shipyard data, and the layout of the subassembly line was designed with the resources. The production process modeling of the subassembly lines was performed using the discrete event simulation method. Using the constructed resource and process model, the productivity and efficiency of the line were investigated. The number of workers and the variations In the resource performance such as that of a new welding robot were examined to simulate the changes in productivity. The bottleneck process floated according to the performance of the new resources. The proposed model was viewed three-dimensionally in a digital environment so that interferences among objects and space allocations for the resources could be easily investigated

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.147.3-147
• /
• 2001

We have proposed a digital control method, where the controlled variable is a joint angular velocity, of space robot manipulators using the transpose of Generalized Jacobian Matrix. The explicit relationship between the control law and the sampling period, however, is unknown because the controller gains include the sampling period implicitly. This paper presents a novel digital control method which explicitly describes the relation between the sampling period and the controller gains. Computer simulation of a 3-DOF planar space robot manipulator is peformed. Simulation result demonstrates the effctiveness of the proposed method.

• Journal of Digital Contents Society
• /
• v.14 no.3
• /
• pp.333-341
• /
• 2013

Robot education has the favorable influence on creativity and problem-solving ability of students. Therefore, it is commonly known to elementary school students, their parents and teacher through robot education for after school and contests. However, it has not been actively taught at university of education students because of the lack of systematic education program. In this paper, we have developed robot education program using problem-based learning and educational robot for pre-service elementary teachers. We have examined their recognition on robot education and education program after applying the developed program. Interviews for improving robot education program were also conducted. We find out robot education program has the favorable influence on the recognition, satisfaction and effectiveness for robot education. In particular, we know that education will related to robot was augmented by this education program.

• Journal of Digital Convergence
• /
• v.10 no.2
• /
• pp.217-223
• /
• 2012

By using the network, the robot can provide the anytime and anywhere various services. There is the advantage that it can provide the real time service by using the network description but the network robot has the network security vulnerability. Therefore, in the network robot environment, the authentication framework which can be satisfied the security function has to be established. In this paper, the security vulnerability which it can be generated in the network robot environment is analyze and the plan for reaction is prepared. And the authentication framework controlling the network robot safely was proposed.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.6
• /
• pp.555-562
• /
• 2013

This paper presents the optimal array of optical mice for the accurate velocity estimation of a mobile robot. It is assumed that there can be some restriction on the installation of two or more optical mice at the bottom of a mobile robot. First, the velocity kinematics of a mobile robot with an array of optical mice is derived, which maps the velocity of a mobile robot to the velocities of optical mice. Second, taking into account the consistency in physical units, the uncertainty ellipsoid is obtained to represent the error characteristics of the mobile robot velocity estimation owing to noisy optical mouse measurements. Third, a simple but effective performance index is defined as the inverse of the volume of the uncertainty ellipsoid, which can be used for the optimization of the optimal optical mouse placement. Fourth, simulation results for the optimal placement of three optical mice within a given elliptical region are given.

• Journal of Digital Convergence
• /
• v.11 no.1
• /
• pp.441-446
• /
• 2013

It is expected to change for convergence robotic services according to emergence new communication technologies and cloud computing, etc. Robot industry is evaluated the biggest filed that is possibility to convergence of new IT technology. This paper presents a design framework for robot industry business model on cloud services through the cloud computing and environment of robot industry, features and provide valuable of cloud-based robot service, analysis of customer needs and value chain in the market in an aging society. In addition, we describe the evolution path of the proposed business model in terms of technology development and market. This study is expected to help that cloud and robot services companies when establishing new service model development and marketing strategy.

• Journal of Korea Society of Digital Industry and Information Management
• /
• v.20 no.2
• /
• pp.37-47
• /
• 2024

The food tech market, which uses artificial intelligence robots for the restaurant industry, is gradually expanding. Among them, the robot barista, a representative food tech case for the restaurant industry, is characterized by increasing the efficiency of operators and providing things for visitors to see and enjoy through a 24-hour unmanned operation. This research was conducted through text mining analysis to examine trends related to robot baristas in the restaurant industry. The research results are as follows. First, keywords such as coffee, cafe, certification, ordering, taste, interest, people, robot cafe, coffee barista expert, free, course, unmanned, and wine sommelier were highly frequent. Second, time, variety, possibility, people, process, operation, service, and thought showed high closeness centrality. Third, as a result of CONCOR analysis, a total of 5 keyword clusters with high relevance to the restaurant industry were formed. In order to activate robot barista in the future, it is necessary to pay more attention to functional development that can strengthen its functions and features, as well as online promotion through various events and SNS in the robot barista cafe.