• 제어로봇시스템학회논문지
• /
• 제8권11호
• /
• pp.954-962
• /
• 2002

In a park or street, we can see many people jogging or walking with their dogs tracking their masters. In this study, an entertainment robot that imitates a dog's behavior is created. The robot's task is tracking a moving target that is recognized as the master. In order to design the robot, the ecological approach. in which the robot's goals and surroundings heavily influence its design, is used. A three-wheel type locomotion system is designed as the robot's physical structure which can follow a human jogging in outdoor space like a park. A sensor system which can detect the position of a master for the robot in the outdoor space, is developed. This sensor system consists of a signal transmitter which is at the hand of a master and some sensors which are mounted on the robot. The transmitter emits RF(radio frequency) and ultrasonic signals and the sensors detect the direction and distance from the robot to the transmitter by using the received signals. For the control architecture of the robot, a purely reactive behavior-based method is used in order to increase speed of response. The developed robot is evaluated through experiments conducted in indoor and outdoor environments.

• International Journal of Precision Engineering and Manufacturing
• /
• 제6권4호
• /
• pp.67-72
• /
• 2005

In a park or street, we can see many people jogging or walking with their dogs that are chasing their masters. In this study, a pet robot that imitates dog's behavior is developed. The task of robot is to chase a person who is recognized as the master. The physical structure and the sensor system are designed for the task and environment. A three-wheel type locomotion system is designed as the robot's physical structure which can follow a person who is jogging in outdoor environment like a park. A sensor system, which can detect relative position of the master to the robot in highly dynamic and hazardous worlds, is developed. This sensor system consists of a signal transmitter which is held by the master and ultrasonic sensor array which are mounted on the robot. The transmitter emits RF (radio frequency) and ultrasonic signals simultaneously. The ultrasonic sensor array detects the signals and calculates direction and distance between the robot and the transmitter. The developed RF-ultrasonic sensor is evaluated through experiments. A purely reactive behavior-based control architecture is used for the robot. The behavior control performance of the robot is assessed in outdoor and indoor tests.

• 한국통신학회논문지
• /
• 제17권8호
• /
• pp.856-866
• /
• 1992

본 논문은 협력작업을 수행하는 다중로보트의 동작결정을 지원하는 그래픽 시뮬레이션 시스템을 제안하였으며, 다중로보트 협력시스템을 위한 시뮬레이션 소프트웨어의 구성을 위하여 두가지의 문제를 제시하였다. 첫째, 다중로보트의 동작은 원하는 대상물의 경로와 대상물과의 고정관계를 만족하는 조건식을 이용하여 구하였으며, 다양하게 변하는 대상물의 경로를 이루어내는 다중로보트의 동작을 알아내기 위하여 한 대의 주 로보트의 동작을 이용하는 주-종방식 보다 로보트들의 동작 수정이 용이한 대상물의 경로를 이용하는 방식을 채택하였다. 또 하나의 문제는 로보트시스템의 환경변화에 대한 적응력을 높이고 소프트웨어 개발 부담을 줄이기 위한 방법으로 객체지향 프로그래밍 기법을 이용한 로보트 응용 프로그래밍 환경의 기본적인 객체들을 제시하였다. 다중로보트 시스템에 적용된 객체지향 프로그래밍 기법은 소프트웨어의 신뢰성과 재사용성 및 확장성 등의 장점들을 제공하며, 또한 로보트 응용 프로그래밍의 다양한 요구에 대응하기 위한 구조적 개념을 제공한다.

• 로봇학회논문지
• /
• 제7권4호
• /
• pp.267-275
• /
• 2012

When using commercialized robot assisted laparoscopic, surgeon has met some problems to depend only on image of the surgical field. To solve it, there were various researches. The previous study showed that it is possible to estimate the operation force on the commercialized instrument inside patient without sensors. To apply the estimated force to a haptic master console for the laparoscopy surgical robot system, the light haptic master console should be designed. This paper suggests the design of lighter master console handle to reduce a weight of the console whose structure can match with the joint and DOF of an instrument. A cable-conduit mechanism is designed to make light structure to perform a delicate manipulation. The cable-conduit mechanism removes the weight and inertia of link caused by haptic actuator and encoder which is separated from handle link of a manipulator.

• 제어로봇시스템학회논문지
• /
• 제9권12호
• /
• pp.1009-1018
• /
• 2003

In a park or street, we can see many people Jogging or walking with their dogs chasing their masters. In the previous study, an entertainment robot, CARTRI that imitates the dog's behavior was created. The robot's task was chasing a moving goal that was recognized as the master. The physical structure of the CARTRI robot was three-wheel type locomotion system. The sensor system which could detect the position of the master in the outdoor space, was consists of a signal transmitter which was held by the master and five ultrasonic receivers which were mounted on the robot. In the experiment, the robot could chase a human walking in outdoor space like a park. But it could not avoid obstacles and its behavior was only goal-chasing behavior because of the limit of the sensor system. In this study, an improved RF-ultrasonic sensor system which can detect both goal and obstacle is developed in order to enable the CARTRI robot to carry out various behavior. The sensor system has increased angle resolution by using eight ultrasonic receivers instead of five in the previous study. And it can detect obstacle by using reflective type ultrasonic sensors. The sensor system is designed so that detection of goal and obstacle could be conducted in one sampling period. The Performance of the developed sensor system is evaluated through experiments.

• 대한기계학회논문집A
• /
• 제39권2호
• /
• pp.137-142
• /
• 2015

최근 국방 및 보안 분야 등과 같은 위험 환경에서 임무를 수행하는 로봇 팔의 원격제어와 관련된 연구가 활발히 진행되고 있다. 로봇 팔의 원격제어를 위해서는 조작장치가 필수적이므로, 본 연구에서는 스튜어트 플랫폼을 기반으로 로봇 팔을 직관적으로 제어할 수 있으며, 기존의 조작장치와 비교하여 이동성 및 휴대성이 우수한 조작장치를 개발하였다. 조작장치의 크기와 무게를 최소화하기 위하여 스튜어트 플랫폼을 기반의 기구부를 구성하였으며, 조작장치의 동작범위를 최대화하기 위하여 와이어를 적용하였다. 개발된 조작장치를 검증하기 위하여 상용 IMU와 비교실험을 수행하였으며, 실험 결과를 바탕으로 개발된 조작장치의 실용성과 신뢰성을 검증하였다.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
• /
• pp.337-339
• /
• 2007

This paper proposes a new paradigm for cooperation of multi-robot system for home service. For localization of each robot. the master robot collects information of location of each robot based on communication of RFID tag on the floor and RFID reader attached on the bottom of the robot. The Master robot communicates with slave robots via wireless LAN to check the motion of robots and command to them based on the information from slave robots. The operator may send command to slave robots based on the HRI(Human-Robot Interaction) screened on masted robot using information from slave robots. The cooperation of multiple robots will enhance the performance comparing with single robot.

• 제어로봇시스템학회논문지
• /
• 제5권8호
• /
• pp.948-954
• /
• 1999

In this paper, we propose a cooperative motion planning algorithm for two tightly-coupled mobile robots. Specifically, the considered cooperative work is that two mobile robots should transfer a long rigid object along a predefined path. To resolve the problem, we introduce a master-slave concept for two obile robots having the same structure. According to the velocity of the master robot and the positions of two robots on the path, the velocity of the slave robot is determined. The slave normally tracks the master's motion, but in case that the velocity of the slave exceeds the velocity limit, the roles of the robots should be interchanged. The effectiveness of the proposed algorithm is proved by computer simulations.

• 한국정밀공학회지
• /
• 제32권12호
• /
• pp.1055-1063
• /
• 2015

In this paper, a new master arm was developed as an input device of the remote control system for easy control of the industrial robot arm; it has a structure similar to the robot arm and is easy to wear. For control of the slave arm, related equations were derived about the joints between the master and slave arm; and thereby using them, the master arm control system was developed. Furthermore, a control simulator was developed for the convenient and accurate control of the slave arm. Experiments, about controlling the slave arm in applying the master arm, were performed to validate the developed simulator and the derived related equations.

• 한국공작기계학회:학술대회논문집
• /
• 한국공작기계학회 2001년도 춘계학술대회 논문집(한국공작기계학회)
• /
• pp.234-238
• /
• 2001

A lot of researches have been done in teleoperation field. For accurate and reliable teleoperation, force reflection is required so that the master can feel the same force, which is measured at reflection have been applied to most of the master device. Therefore the master can not control the force exerted by the slave robot to the environment. But some tasks such as an insertion with very small tolerance, skewing bolt and so forth, require the force command from the master.