• Title/Summary/Keyword: Robot

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Leader Robot Controller Considering Follower with Input Constraint (입력 제한을 가진 추종 로봇을 고려한 선도 로봇 제어기)

  • Lee, Seung-Joo;Hong, Suk-Kyo
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.61 no.7
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    • pp.1032-1040
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    • 2012
  • This paper proposes controller of leader robot considering following robot with input constraints based on leader-following approach. In the previous formation control researches, it was assumed that leader and follower is same object. If leader robot drives as maximum speed that the initial position errors still remain even if following robot have same velocity as a leader. In the situation that velocity of following robot is lower than its leader robot, following robot cannot follow leader robot. Furthermore, the following robot will not be able to made formation with leader robot and keep proximity communication or sensing range. Therefore, multiple mobile robot system using leader-following method should be guaranteed range to get information each other. In this paper, Leader robot is driving to goal position using linear controller and following robot is following trajectory to be made from leader robot. We assume that following robot has input constraints to realize different performance between leader robot and following robot. We design controller of leader robot for desired goal position including the errors between formation and following robot. Thus, we propose leader robot controller considering input constraints of following robot. Finally, we were able to confirm the validity of the proposed method based on simulation results.

Development of a Robot Element Design Program (로봇 요소품 설계 프로그램 개발)

  • Jung Il Ho;Kim Chang Su;Seo Jong Hwi;Park Tae Won;Kim Hee Jin;Choi Jae Rak;Byun Kyng Seok
    • Journal of the Korean Society for Precision Engineering
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    • v.22 no.4
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    • pp.113-120
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    • 2005
  • This paper presents the development of the design of the robot element. Robot element design is an important part of robot design since it decides the performance and life time of the robot. It is necessary that the robot kinematics and the robot dynamics are accomplished to design the robot elements. The robot kinematics and dynamics determine the design parameters of the element. We developed a robot element design program with which a designer can design the robot element with convenience and reliability. The program is composed of motor, harmonic driver and ball-screw design. The program is founded on the virtual robot design program. The virtual robot design program is the powerful software which may be used to solve various problems of the robot kinematics and dynamics. The robot element design program may be used to calculate the design parameters of the element that are necessary to design robot element. Therefore, the designer can decide upon the available robot elements available to perform the objective of the robot. The robot element design program is expected to increase the competitiveness and efficiency of the robot industry.

A Design of Dynamic Simulator of Articulated Robot (다관절 로봇의 동적 시뮬레이터 설계)

  • Park, In-Man;Jung, Seong-Won
    • Journal of the Korean Society of Industry Convergence
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    • v.18 no.2
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    • pp.75-81
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    • 2015
  • This study proposes an articulated robot control system using an on/off-line robot graphic simulator with multiple networks. The proposed robot control system consists of a robot simulator using OpenGL, a robot controller based on a DSP(TMS320) motion board, and the server/client communication by multiple networks. Each client can control the real robot through a server and can compare the real robot motion with the virtual robot motion in the simulation. Also, all clients can check and analyze the robot motion simultaneously through the motion image and data of the real robot. In order to show the validity of the presented system, we present an experimental result for a 6-axis vertical articulated robot. The proposed robot control system is useful, especially, in the industrial fields using remote robot control as well as industrial production automation with many clients.

A Study on the Map-Building of a Cleaning Robot Base upon the Optimal Cost Function (청소로봇의 최적비용함수를 고려한 지도 작성에 관한 연구)

  • Kang, Jin Gu
    • Journal of Korea Society of Digital Industry and Information Management
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    • v.5 no.3
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    • pp.39-45
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    • 2009
  • In this paper we present a cleaning robot system for an autonomous mobile robot. Our robot performs goal reaching tasks into unknown indoor environments by using sensor fusion. The robot's operation objective is to clean floor or any other applicable surface and to build a map of the surrounding environment for some further purpose such as finding the shortest path available. Using its cleaning robot system for an autonomous mobile robot can move in various modes and perform dexterous tasks. Performance of the cleaning robot system is better than a fixed base redundant robot in avoiding singularity and obstacle. Sensor fusion using the clean robot improves the performance of the robot with redundant freedom in workspace and Map-Building. In this paper, Map-building of the cleaning robot has been studied using sensor fusion. A sequence of this alternating task execution scheme enables the clean robot to execute various tasks efficiently. The proposed algorithm is experimentally verified and discussed with a cleaning robot, KCCR.

Methodology for Establishment of Operational Concept for Speed-Up of Defense Robot and Improvement Direction of the Defense Acquisition System (국방로봇 신속 전력화를 위한 운용개념 수립 방법론 및 획득체계 개선방향)

  • Eom, Hongseob
    • The Journal of Korea Robotics Society
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    • v.13 no.3
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    • pp.182-189
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    • 2018
  • The purpose of this paper is to suggest the methodology for the establishment of operational concept for speed-up of defense robot and improvement direction of the defense acquisition system for the defense robot. In order to achieve this goal, the current defense acquisition system was analyzed into long-term planning, mid-term programming, and project execution stages. And I suggest the methodology for the establishment of operational concept for speed-up of defense robot and direction of development of the defense robot acquisition system considering the characteristics of the robot in terms of core technologies of robot, robot ecosystem and effectiveness-based-robot-design, respectively. Based on the methodology for establishment of the operational concept of defense robot and development direction of the defense acquisition system presented in this study, it will be possible to design efficiently the defense robot in the future.

Development of a Robot Design Program (로봇 설계 프로그램 개발)

  • Seo Jong Hwi;Kim Chang Su;Jung Il Ho;Park Tae Won;Kim Hyk;Choi Jae Rak;Byun Kyng Seok
    • Journal of the Korean Society for Precision Engineering
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    • v.22 no.5
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    • pp.87-94
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    • 2005
  • This paper presents the development of a virtual robot design program. Robot design requires numerical software, robot solution software and multi-body dynamics software to complete several designs. However using a commercialized software implies some disadvantages, such as the waste of time and money it costs to learn how to use the software. We developed a virtual robot design program with which a user can design a robot with rapidity and reliability. The virtual robot design program is composed of robot kinematics module and robot dynamics module. The program is powerful software which may be used to solve various problems of a robot. The 3D animator and a 2D/3D graph of the program can analyze the design results into visual data. The virtual robot design program is expected to increase the competitiveness and efficiency of the robot industry.

Precision control of a mobile/task robot using visual information (비젼 정보를 이용한 이동/작업용 로봇의 정밀제어)

  • 한만용;이장명
    • Journal of the Korean Institute of Telematics and Electronics S
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    • v.34S no.10
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    • pp.71-79
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    • 1997
  • This paper introduces a methodology of the precise control of a mobile/task robot using visual information captured bythe camera attached at the hand of the task robot. The major problem residing in the precise control of mobile/task robot is providing an accurate and stable base for the task robot through the precise control of mobile robot. On account of uncertainties on the surface, the precise control of mobile robot is not feasible without using external position sensor. In this paper, the methodology for the precise control of mobile robot is proposed, which recognizes the position of mobile robot using the camera attached at the hand of the task robot. While the task robot is approaching to an assembly part, the position of mobile robot is measured using the line correspondence between the image capturesd by the camera and the real assembly part, and using the kinematic transformation from the hand of the task robot to the mobile robot. To verify the solidness of this method, experimental data for the measurement of camera position/orientation and for the precise control of mobile robot using measurement are shown.

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A study on the implementation of new ROBOT CONTROLLER with MULTI-TASKING and MULTI-ROBOT functions (다중 processor를 이용한 multi-robot용 제어기의 구현에 대한 연구)

  • 김성락;추상원;이충기;임형준;이용중;이인옥
    • 제어로봇시스템학회:학술대회논문집
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    • pp.507-510
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    • 1988
  • The main subject of this paper is the development of new ROBOT CONTROLLER, which can support MULTI-TASKING and MULTI-ROBOT functions. The system consists of various kinds of CPU modules according to their independent jobs. Acceleration and Deceleration profile is given in order to achieve the smooth robot motion and high cycle time. Further the communication capacity should be upgraded to meet the various kinds of peripheral PA devices.

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Design of a Robot-in-the-Loop Simulation Based on OPRoS (OPRoS 기반 로봇시스템의 Robot-in-the-Loop Simulation 구조)

  • Kim, Seong-Hoon;Park, Hong Seong
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.3
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    • pp.248-255
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    • 2013
  • This paper proposes the architecture of the RILS (Robot-in-the-Loop-Simulation) consisting of the robot, the virtual robot, and the avatar robot which is the type of virtual robots operating according to the robot status and behavior. And the synchronization algorithm for mobilization part of the avatar robot is suggested, which reduces the difference between behaviors of the robot and those of the avatar robot. This difference occurs due to the environmental and mechanical mismatches between the robot and avatar robot. In order to reduce this difference in robots behaviors, the synchronization algorithm controls the avatar robot based on the data observed from the robot's behavior. The proposed architecture and the synchronization algorithm are validated from some simulation results.

Robot Fish Tracking Control using an Optical Flow Object-detecting Algorithm

  • Shin, Kyoo Jae
    • IEIE Transactions on Smart Processing and Computing
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    • v.5 no.6
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    • pp.375-382
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    • 2016
  • This paper realizes control of the motion of a swimming robot fish in order to implement an underwater robot fish aquarium. And it implements positional control of a two-axis trajectory path of the robot fish in the aquarium. The performance of the robot was verified though certified field tests. It provided excellent performance in driving force, durability, and water resistance in experimental results. It can control robot motion, that is, it recognizes an object by using an optical flow object-detecting algorithm, which uses a video camera rather than image-detecting sensors inside the robot fish. It is possible to find the robot's position and control the motion of the robot fish using a radio frequency (RF) modem controlled via personal computer. This paper proposes realization of robot fish motion-tracking control using the optical flow object-detecting algorithm. It was verified via performance tests of lead-lag action control of robot fish in the aquarium.