• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.511-517
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• 1988

Movement order program of robot operating program is generally made by teach-in method. Therefore in most cases it is sufficient as long as the robot system shows a reguired repeatability for the working conditions. But the trend in the robot application moves to the automatic generation of the working programs. A mathematical robot model similar to the reality is necessary for the analysis of the kinematic transformation of the robot system. The purposes of this paper are to make a better describing form and to suggest an automatic algorithm for kinematic parameter identification.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1993.10a
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• pp.582-587
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• 1993

A robot application system is developed for dual purpose of stud welding and are welding to weld plates in the manufacturing of elevator cabin. The production quantity is not so big to accommodate separate stations for stud welding and are welding respectively while the need for randomization of the processes is urgent. A robot with specification for spot welding is chosen, which is appropriate for stud welding. Some implementations are made so that the robot may also be shared for are welding process. Common jig and fixture is designed for the dual purpose. Important aspects in the procedure of system design, installation, and commissioning are stated, and signal set-ups and logic diagrams are illustrated.

• The Journal of Korea Robotics Society
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• v.2 no.1
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• pp.103-108
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• 2007

Intelligent Robot is considered as one of the Next Generation Growth Engine in many countries. The application fields are expected to be widen from 80's robotics for manufacturing to many applications such as military, space, medical, personal, etc. To reduce the R&D investment risk Technical Roadmap is prepared by Japan, Europe and Korea. In this paper, the technical Roadmap of the countries was analysed to get the idea of future of Robotics. Robotics is considered as one of solutions of future aged society. Robot can assist and company with elderly people in the near future. On the other hand, Robot is considered as a core technology of manufacturing competitive power. Industrial competitiveness also would be dependent on robot technology. Special Service robot has many application areas and each country has different target based on the situation. With the comparison of technical roadmap, we have suggested some ideas to improve Korea's roadmap.

• International journal of advanced smart convergence
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• v.2 no.1
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• pp.18-20
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• 2013

The significance, is to introduce a novel way to employ the improved Runge-Kutta fifth order five stage method, here after called as Modified IRK(5,5) method, for system of second order robot arm problem and variations in angles at the joints in which parameters governing with two degrees of freedom which requires lesser number of function evaluations per time step as compared to the existing ones, in order to save time and spaceAn ultimate aim of this present paper is to solve application problem such as robot arm and initial value problems by applying Runge-Kutta fifth order five stage numerical techniques. The calculated output for robot arm coincides with exact solution which is found to be better, suitable and feasible for solving real time problems.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.5
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• pp.505-510
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• 2009

In recent years the space where a robot works has been expanding to the human space unlike traditional industrial robots that work only at fixed positions apart from humans. A human in the recent situation may be the owner of a robot or the target in a robotic application. This paper deals with the latter case; when a robot vision system is employed to monitor humans for a surveillance application, each person in a scene needs to be identified. Humans, however, often move together, and occlusions between them occur frequently. Although this problem has not been seriously tackled in relevant literature, it brings difficulty into later image analysis steps such as tracking and scene understanding. In this paper, a probabilistic neural network is employed to learn the patterns of the best dividing position along the top pixels of an image region of partly occlude people. As this method uses only shape information from an image, it is simple and can be implemented in real time.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.2
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• pp.179-185
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• 2014

In this paper, a quadruped walking pet robot for human-robot interaction, a robot-controller using a smart phone application program, and a home smart control system using sensor informations providing from the robot are described. The robot has 20 degree of freedom and consists of various sensors such as Kinect sensor, infrared sensor, 3 axis motion sensor, temperature/humidity sensor, gas sensor and graphic LCD module. We propose algorithms for the robot entertainment: walking algorithm of the robot, motion and voice recognition algorithm using Kinect sensor. emotional expression algorithm, smart phone application algorithm for a remote control of the robot, and home smart control algorithm for controlling home appliances. The experiments of this paper show that the proposed algorithms applied to the pet robot, smart phone, and computer are well operated.

• Archives of design research
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• v.19 no.4 s.66
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• pp.81-90
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• 2006

Robot design serves as the crucial link between a human and a robot, the cutting edge technology. The importance of the robot design certainly will be more emphasized when the consumer robot market matures. For coexistence of a human and a robot, human friendly interface design and robot design with consideration of human interaction need to be developed. This research extracts series of functions in need which are consisted of series of case studies for planning and designing of 'A Shopping Support Robot'. The plan for the robot is carried out according to HRI aspects of Design and the designing process fellows. Definite results are derived by the application of series of HRI aspects such as gestures, expressions and sound. In order to verify the effectiveness of application of HRI aspects, this research suggests unified interaction that is consisted of motion-capture, animation, brain waves and sound between a human and a robot.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.33 no.5
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• pp.380-385
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• 2020

Over the past decade, small robots have been of particular interest in the engineering field. Among the various types of small robots, biomimetic robots, which mimic animals and insects, have been developed for special activities in areas where humans cannot physically access. The optimal motion of a walking robot can be determined by the characteristics of the traversed surface (e.g., roughness, curvature, slope, materials, etc.). This study proposes three types of piezoelectric structures using different driving mechanisms, depending on the application range of the small walking robots. Dynamic modeling using computer-aided engineering optimized the shape of the robot to maximize its moving characteristics, and the results were also verified through its fabrication and experimentation. Three types of robots, named by their actuator shapes as I, π, & T-shape, were proposed regarding application for small scale ambulatory robots to different terrain conditions. Among these, the T-shaped robots were shown to have a wide range of speeds (from 2 mm/s up to 255 mm/s) and good carrying capacity (up to 10 g at 50 mm/s) through driving experiments. Based on this study, we proposed possible application areas for the three types of walking robot actuators.

• Special Issue of the Society of Naval Architects of Korea
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• 2008.09a
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• pp.136-143
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• 2008

This paper presents the application of a robot which aims at grinding automatically welding-bead remained in the removal job of working pieces for shipbuilding. In specific, the investigation on this application is composed of two parts; one topic is on the development of a robot platform vertically movable on a steel plate of hull, while the other topic is of the development of a grinding tool mechanism in order to remove welding-beads by using a diamond wheel installed on a servo cylinder (which can result in high working pressure on the grinding wheel). Besides, the development of a vision system for tracking welding-beads as well as recognizing welding surfaces is added for the convenience of this robot application to the removal of welding-beads remained in the working pieces for shipbuilding.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.7
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• pp.147-154
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• 2003

An effective die-polishing robot system is developed. ATC (Automatic Tool Change), tool posture angle control, and robot program for polishing application are developed and integrated into a robotic system that consists of a robot, pneumatic grinding tool, and grinding abrasives (papers and special films). ATC is specifically designed to exchange whole grinding tool set for complete unmanned operation. A tool posture angle control system is developed for the tools to maintain a specified skew angle rather than right angle on the surface for best finishing results. A PC and the robot controller control ATC and tool posture angle. Also, there have been more considerations on enhancing the performance of the system. Elastic material is inserted between the grinding pad and the holder for better grinding contact. Robot path data are generated automatically from the NC data of previous machining process.